diff --git a/configs/DAKEFPVF405/config.h b/configs/DAKEFPVF405/config.h
index 7f73a3316..bfcb13e06 100644
--- a/configs/DAKEFPVF405/config.h
+++ b/configs/DAKEFPVF405/config.h
@@ -27,16 +27,17 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
-#define USE_BARO
-#define USE_FLASH
 #define USE_GYRO
 
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_ACCGYRO_BMI270
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
 #define USE_ACCGYRO_LSM6DSK320X
+
+#define USE_BARO
+#define USE_FLASH
 #define USE_BARO_SPI_BMP280
 #define USE_BARO_SPI_DPS310
 #define USE_FLASH_M25P16
diff --git a/configs/DAKEFPVF411/config.h b/configs/DAKEFPVF411/config.h
index b61e530ae..920b6da3e 100644
--- a/configs/DAKEFPVF411/config.h
+++ b/configs/DAKEFPVF411/config.h
@@ -26,12 +26,16 @@
 #define BOARD_NAME        DAKEFPVF411
 #define MANUFACTURER_ID   DAKE
 
-#define USE_GYRO
-#define USE_GYRO_SPI_ICM42688P
 #define USE_ACC
+#define USE_GYRO
+
+#define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_ACCGYRO_BMI270
-#define USE_BARO_SPI_BMP280
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
+
 #define USE_FLASH
 #define USE_FLASH_M25P16
 #define USE_MAX7456
diff --git a/configs/DAKEFPVF435/config.h b/configs/DAKEFPVF435/config.h
index 4d5a21a3e..a4a03c211 100644
--- a/configs/DAKEFPVF435/config.h
+++ b/configs/DAKEFPVF435/config.h
@@ -27,11 +27,14 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
 
 #define USE_BARO
 #define USE_BARO_BMP280
diff --git a/configs/DAKEFPVF435HD/config.h b/configs/DAKEFPVF435HD/config.h
index aaddd7c9c..c3a413806 100644
--- a/configs/DAKEFPVF435HD/config.h
+++ b/configs/DAKEFPVF435HD/config.h
@@ -27,11 +27,14 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
 
 #define USE_BARO
 #define USE_BARO_BMP280
diff --git a/configs/DAKEFPVF722/config.h b/configs/DAKEFPVF722/config.h
index 6023f9a22..ea959b397 100644
--- a/configs/DAKEFPVF722/config.h
+++ b/configs/DAKEFPVF722/config.h
@@ -27,19 +27,20 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
-#define USE_ACC_SPI_MPU6500
 #define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
+
 #define USE_BARO
 #define USE_BARO_SPI_BMP280
 #define USE_BARO_SPI_DPS310
 #define USE_FLASH
 #define USE_FLASH_M25P16
-#define USE_GYRO
-#define USE_GYRO_SPI_MPU6000
-#define USE_GYRO_SPI_MPU6500
-#define USE_GYRO_SPI_ICM42688P
-#define USE_MAX7456
 
 #ifndef USE_CAMERA_CONTROL
 #define USE_CAMERA_CONTROL
diff --git a/configs/DAKEFPVF722X8/config.h b/configs/DAKEFPVF722X8/config.h
index 37494303f..5bf77c46d 100644
--- a/configs/DAKEFPVF722X8/config.h
+++ b/configs/DAKEFPVF722X8/config.h
@@ -27,11 +27,14 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
 
 #define USE_BARO
 #define USE_BARO_BMP280
diff --git a/configs/DAKEFPVH743/config.h b/configs/DAKEFPVH743/config.h
index e3cafb02f..d05be3c7e 100644
--- a/configs/DAKEFPVH743/config.h
+++ b/configs/DAKEFPVH743/config.h
@@ -27,11 +27,14 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
 
 #define USE_BARO
 #define USE_BARO_BMP280
diff --git a/configs/DAKEFPVH743PRO/config.h b/configs/DAKEFPVH743PRO/config.h
index 6d275fb73..cf2bce901 100644
--- a/configs/DAKEFPVH743PRO/config.h
+++ b/configs/DAKEFPVH743PRO/config.h
@@ -27,11 +27,14 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
 
 #define USE_GYRO_CLKIN
 #define GYRO_1_CLKIN_PIN     PE6
diff --git a/configs/DAKEFPVH743_SLIM/config.h b/configs/DAKEFPVH743_SLIM/config.h
index f92f0f988..552fac059 100644
--- a/configs/DAKEFPVH743_SLIM/config.h
+++ b/configs/DAKEFPVH743_SLIM/config.h
@@ -27,11 +27,14 @@
 #define MANUFACTURER_ID   DAKE
 
 #define USE_ACC
+#define USE_GYRO
+
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM42688P
-#define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_LSM6DSV16X
+#define USE_ACCGYRO_LSM6DSK320X
 
 #define USE_BARO
 #define USE_BARO_BMP280