diff --git a/radio/src/drivers/icm42627.h b/radio/src/drivers/icm42627.h
index 70c9395a6aa..1b9df0f26b7 100644
--- a/radio/src/drivers/icm42627.h
+++ b/radio/src/drivers/icm42627.h
@@ -23,6 +23,8 @@
 
 #include "hal/imu.h"
 
+#define ICM42627_I2C_BASE_ADDR      0x68
+
 #define ICM42627_WHO_AM_I_REG       0x75
 #define ICM42627_WHO_AM_I           0x20
 
diff --git a/radio/src/targets/horus/CMakeLists.txt b/radio/src/targets/horus/CMakeLists.txt
index 80c04f93a8f..16a0e29ffa2 100644
--- a/radio/src/targets/horus/CMakeLists.txt
+++ b/radio/src/targets/horus/CMakeLists.txt
@@ -116,6 +116,8 @@ if (PCB STREQUAL X10)
     set(AUX2_SERIAL OFF)
     set(CSD203_SENSOR ON)
     set(FLYSKY_GIMBAL ON)
+    add_definitions(-DIMU_ICM42627)
+    add_definitions(-DIMU_SC7U22)
     if (BLUETOOTH)
       set(AUX_SERIAL OFF)
     endif()
@@ -296,6 +298,10 @@ add_library(board OBJECT EXCLUDE_FROM_ALL
 )
 set(FIRMWARE_SRC ${FIRMWARE_SRC} $<TARGET_OBJECTS:board>)
 
+if(FLAVOUR STREQUAL v16)
+  target_sources(board PRIVATE drivers/sc7u22.cpp)
+endif()
+
 if(BLUETOOTH)
   target_sources(board PRIVATE targets/common/arm/stm32/bluetooth_driver.cpp)
 endif()
diff --git a/radio/src/targets/horus/board.cpp b/radio/src/targets/horus/board.cpp
index 04308fd289e..c4f967984d1 100644
--- a/radio/src/targets/horus/board.cpp
+++ b/radio/src/targets/horus/board.cpp
@@ -52,7 +52,8 @@
   #include "csd203_sensor.h"
 #endif
 
-#if defined(IMU) && defined(IMU_I2C_BUS) && defined(IMU_I2C_ADDRESS)
+#if defined(IMU) && defined(IMU_I2C_BUS) && \
+    (defined(RADIO_V16) || defined(IMU_I2C_ADDRESS))
   #define HAS_IMU
 #endif
 
@@ -137,21 +138,40 @@ void audioInit()
 #include "stm32_i2c_driver.h"
 #include "drivers/icm42627.h"
 #include "drivers/lsm6ds.h"
+#if defined(IMU_SC7U22)
+#include "drivers/sc7u22.h"
+#endif
+
+#if defined(RADIO_V16)
+
+static const etx_imu_t _imu_candidates[] = {
+#if defined(IMU_ICM42627)
+  { &imu_icm42627_driver, IMU_I2C_BUS, ICM42627_I2C_BASE_ADDR },
+  { &imu_icm42627_driver, IMU_I2C_BUS, ICM42627_I2C_BASE_ADDR + 1 },
+#endif
+#if defined(IMU_SC7U22)
+  { &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR },
+  { &imu_sc7u22_driver, IMU_I2C_BUS, SC7U22_I2C_BASE_ADDR + 1 },
+#endif
+};
 
 static void gyroInit()
 {
-#if defined(RADIO_V16)
-  const etx_imu_driver_t *driver = &imu_icm42627_driver;
+  gyroStart(imuDetect(_imu_candidates, DIM(_imu_candidates)));
+}
+
 #else
-  const etx_imu_driver_t *driver = &imu_lsm6ds_driver;
-#endif
 
+static void gyroInit()
+{
   const etx_imu_t candidates[] = {
-    { driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
+    { &imu_lsm6ds_driver, IMU_I2C_BUS, IMU_I2C_ADDRESS },
   };
 
   gyroStart(imuDetect(candidates, DIM(candidates)));
 }
+
+#endif
 #endif
 
 void boardInit()
diff --git a/radio/src/targets/horus/hal.h b/radio/src/targets/horus/hal.h
index 4ba08f6f501..098dc11143b 100644
--- a/radio/src/targets/horus/hal.h
+++ b/radio/src/targets/horus/hal.h
@@ -493,7 +493,6 @@
    #define IMU_I2C_ADDRESS               0x6A
  #elif defined(RADIO_V16)
    #define IMU_I2C_BUS                   I2C_Bus_1
-   #define IMU_I2C_ADDRESS               0x69
  #elif !defined(AUX_SERIAL) && defined(IMU_LSM6DS33)
    #define IMU_I2C_BUS                   I2C_Bus_2
    #define IMU_I2C_ADDRESS               0x6A