diff --git a/include/boards.h b/include/boards.h
new file mode 100644
index 0000000..daaefdf
--- /dev/null
+++ b/include/boards.h
@@ -0,0 +1,41 @@
+#include "mgos.h"
+#include "mgos_imu.h"
+
+#if BOARD == 1
+// LSM303D_L3GD20_COMBO -- sold as GY-89
+  #define ACC_I2CADDR     0x1d
+  #define ACC_TYPE        ACC_LSM303D
+  #define GYRO_I2CADDR    0x6b
+  #define GYRO_TYPE       GYRO_L3GD20
+  #define GYRO_ORIENT     { 0, -1, 0, 1, 0, 0, 0, 0, 1 }
+  #define MAG_I2CADDR     0x1d
+  #define MAG_TYPE        MAG_LSM303D
+  #define MAG_ORIENT      { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
+#elif BOARD == 2
+// ITG3205_ADXL345_HMC5883L_COMBO -- sold as HW-579
+  #define ACC_I2CADDR     0x53
+  #define ACC_TYPE        ACC_ADXL345
+  #define GYRO_I2CADDR    0x68
+  #define GYRO_TYPE       GYRO_ITG3205
+  #define MAG_I2CADDR     0x1d
+  #define MAG_TYPE        MAG_HMC5883L
+#elif BOARD == 3
+// Sold as M5 Stack (ESP32 + MPU9250)
+  #define ACC_I2CADDR     0x68
+  #define ACC_TYPE        ACC_MPU9250
+  #define GYRO_I2CADDR    0x68
+  #define GYRO_TYPE       GYRO_MPU9250
+  #define GYRO_ORIENT     { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
+  #define MAG_I2CADDR     0x0c
+  #define MAG_TYPE        MAG_AK8963
+  #define MAG_ORIENT      { 0, 1, 0, 1, 0, 0, 0, 0, -1 }
+#elif BOARD == 3
+  #define ACC_I2CADDR     0x68
+  #define ACC_TYPE        ACC_LSM9DS1
+  #define GYRO_I2CADDR    0x68
+  #define GYRO_TYPE       GYRO_LSM9DS1
+  #define GYRO_ORIENT     { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
+  #define MAG_I2CADDR     0x0c
+  #define MAG_TYPE        MAG_LSM9DS1
+  #define MAG_ORIENT      { 1, 0, 0, 0, 1, 0, 0, 0, 1 }
+#endif
diff --git a/tests/imu.c b/tests/imu.c
index 8b4bc15..db80009 100644
--- a/tests/imu.c
+++ b/tests/imu.c
@@ -4,38 +4,14 @@
 
 uint32_t test_imu_period_ms = 100; // 10Hz
 bool     test_imu_enabled   = true;
-
 static struct mgos_imu *s_imu = NULL;
 
-#define BOARD    0
+#define BOARD    3
+#include "boards.h"
 
-#if BOARD == 1
-// LSM303D_L3GD20_COMBO -- sold as GY-89
-  #define ACC_I2CADDR     0x1d
-  #define ACC_TYPE        ACC_LSM303D
-  #define GYRO_I2CADDR    0x6b
-  #define GYRO_TYPE       GYRO_L3GD20
-  #define MAG_I2CADDR     0x1d
-  #define MAG_TYPE        MAG_LSM303D
-#elif BOARD == 2
-// ITG3205_ADXL345_HMC5883L_COMBO -- sold as HW-579
-  #define ACC_I2CADDR     0x53
-  #define ACC_TYPE        ACC_ADXL345
-  #define GYRO_I2CADDR    0x68
-  #define GYRO_TYPE       GYRO_ITG3205
-  #define MAG_I2CADDR     0x1d
-  #define MAG_TYPE        MAG_HMC5883L
-#elif BOARD == 3
-// Sold as M5 Stack (ESP32 + MPU9250)
-  #define ACC_I2CADDR     0x68
-  #define ACC_TYPE        ACC_MPU9250
-  #define GYRO_I2CADDR    0x68
-  #define GYRO_TYPE       GYRO_MPU9250
-  #define MAG_I2CADDR     0x0c
-  #define MAG_TYPE        MAG_AK8963
-#else
-  #define ACC_I2CADDR     0x1d
-  #define ACC_TYPE        ACC_MMA8451
+#ifndef BOARD
+  #define ACC_I2CADDR     -1
+  #define ACC_TYPE        -1
   #define GYRO_I2CADDR    -1
   #define GYRO_TYPE       -1
   #define MAG_I2CADDR     -1