diff --git a/configs/AIKONF4/config.h b/configs/AIKONF4/config.h
index bbbe2ec6..63b03a83 100644
--- a/configs/AIKONF4/config.h
+++ b/configs/AIKONF4/config.h
@@ -101,6 +101,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/AIRBOTG4AIO/config.h b/configs/AIRBOTG4AIO/config.h
index b954919e..a1ab33e7 100644
--- a/configs/AIRBOTG4AIO/config.h
+++ b/configs/AIRBOTG4AIO/config.h
@@ -114,6 +114,7 @@
 #define BEEPER_INVERTED
 
 #define BARO_I2C_INSTANCE            (I2CDEV_1)
+#define MAG_I2C_INSTANCE                     (I2CDEV_1)
 #define MAX7456_SPI_INSTANCE         SPI2
 #define FLASH_SPI_INSTANCE           SPI2
 
diff --git a/configs/AIRBOTSUPERF4/config.h b/configs/AIRBOTSUPERF4/config.h
index 5986f9cb..cee235fb 100644
--- a/configs/AIRBOTSUPERF4/config.h
+++ b/configs/AIRBOTSUPERF4/config.h
@@ -122,6 +122,7 @@
 
 #define ADC_INSTANCE                        ADC1
 #define BARO_I2C_INSTANCE                   (I2CDEV_1)
+#define MAG_I2C_INSTANCE                            (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE             BLACKBOX_DEVICE_FLASH
 
diff --git a/configs/AIRF7/config.h b/configs/AIRF7/config.h
index ccb2ec86..da87ffea 100644
--- a/configs/AIRF7/config.h
+++ b/configs/AIRF7/config.h
@@ -85,6 +85,7 @@
 #define ADC1_DMA_OPT        1
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/ALIENFLIGHTF4/config.h b/configs/ALIENFLIGHTF4/config.h
index eb416abf..a83a4b1c 100644
--- a/configs/ALIENFLIGHTF4/config.h
+++ b/configs/ALIENFLIGHTF4/config.h
@@ -108,6 +108,7 @@
 #define MAG_ALIGN_PITCH 1800
 #define MAG_ALIGN_YAW 1800
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_1)
 //TODO #define SPEKTRUM_SAT_BIND 9
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/ANYFCM7/config.h b/configs/ANYFCM7/config.h
index f8857be3..d21c5e51 100644
--- a/configs/ANYFCM7/config.h
+++ b/configs/ANYFCM7/config.h
@@ -102,6 +102,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_2)
+#define MAG_I2C_INSTANCE          (I2CDEV_2)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define BEEPER_INVERTED
 #define MAX7456_SPI_INSTANCE SPI3
diff --git a/configs/AOCODAF405/config.h b/configs/AOCODAF405/config.h
index 9f623147..7093bc9b 100644
--- a/configs/AOCODAF405/config.h
+++ b/configs/AOCODAF405/config.h
@@ -93,6 +93,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/APEXF7/config.h b/configs/APEXF7/config.h
index 4da38542..32afe941 100644
--- a/configs/APEXF7/config.h
+++ b/configs/APEXF7/config.h
@@ -90,6 +90,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/APEXF72023/config.h b/configs/APEXF72023/config.h
index 9b90fe9d..3498563f 100644
--- a/configs/APEXF72023/config.h
+++ b/configs/APEXF72023/config.h
@@ -92,6 +92,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/ARGUSF7AIO/config.h b/configs/ARGUSF7AIO/config.h
index c62b3ccd..cdf65f5e 100644
--- a/configs/ARGUSF7AIO/config.h
+++ b/configs/ARGUSF7AIO/config.h
@@ -101,6 +101,7 @@
 
 #define ADC_INSTANCE ADC1
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/AXISFLYINGF7/config.h b/configs/AXISFLYINGF7/config.h
index e2e7c3b1..fa49146c 100644
--- a/configs/AXISFLYINGF7/config.h
+++ b/configs/AXISFLYINGF7/config.h
@@ -94,6 +94,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/BETAFPVG473/config.h b/configs/BETAFPVG473/config.h
index 00c8e878..70227303 100644
--- a/configs/BETAFPVG473/config.h
+++ b/configs/BETAFPVG473/config.h
@@ -92,6 +92,7 @@
 #define SERIALRX_UART SERIAL_PORT_USART3
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define SERIALRX_PROVIDER SERIALRX_CRSF
 #define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
 //TODO #define DSHOT_IDLE_VALUE 450
diff --git a/configs/BLADE_F7/config.h b/configs/BLADE_F7/config.h
index 83758223..514cc028 100644
--- a/configs/BLADE_F7/config.h
+++ b/configs/BLADE_F7/config.h
@@ -96,6 +96,7 @@
 #define ADC1_DMA_OPT        1
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/BLADE_F7_AIO/config.h b/configs/BLADE_F7_AIO/config.h
index 62006a93..8d80608a 100644
--- a/configs/BLADE_F7_AIO/config.h
+++ b/configs/BLADE_F7_AIO/config.h
@@ -104,6 +104,7 @@
 #define ADC3_DMA_OPT                    1
 #define ADC_INSTANCE                    ADC3
 #define BARO_I2C_INSTANCE               (I2CDEV_1)
+#define MAG_I2C_INSTANCE                        (I2CDEV_1)
 #define FLASH_SPI_INSTANCE              SPI3
 #define GYRO_1_SPI_INSTANCE             SPI1
 #define MAX7456_SPI_INSTANCE            SPI2
diff --git a/configs/BLADE_F7_HD/config.h b/configs/BLADE_F7_HD/config.h
index f95c7cfc..19e3bed1 100644
--- a/configs/BLADE_F7_HD/config.h
+++ b/configs/BLADE_F7_HD/config.h
@@ -92,6 +92,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/BLUEJAYF4/config.h b/configs/BLUEJAYF4/config.h
index 7c0a00f8..5368a049 100644
--- a/configs/BLUEJAYF4/config.h
+++ b/configs/BLUEJAYF4/config.h
@@ -86,6 +86,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define BEEPER_INVERTED
diff --git a/configs/CADDXF4_AIO_ELRS/config.h b/configs/CADDXF4_AIO_ELRS/config.h
index 8916e592..79b4f7ee 100644
--- a/configs/CADDXF4_AIO_ELRS/config.h
+++ b/configs/CADDXF4_AIO_ELRS/config.h
@@ -1,113 +1,114 @@
-/*
- * This file is part of Betaflight.
- *
- * Betaflight is free software. You can redistribute this software
- * and/or modify this software under the terms of the GNU General
- * Public License as published by the Free Software Foundation,
- * either version 3 of the License, or (at your option) any later
- * version.
- *
- * Betaflight is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- *
- * See the GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public
- * License along with this software.
- *
- * If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#define FC_TARGET_MCU     STM32F405
-
-#define BOARD_NAME        CADDXF4_AIO_ELRS
-#define MANUFACTURER_ID   CADX
-
-#define USE_GYRO
-#define USE_GYRO_SPI_MPU6000
-#define USE_GYRO_SPI_ICM42688P
-#define USE_ACC
-#define USE_ACC_SPI_MPU6000
-#define USE_ACC_SPI_ICM42688P
-#define USE_ACCGYRO_BMI270
-#define USE_BARO
-#define USE_BARO_BMP280
-#define USE_FLASH
-#define USE_FLASH_W25Q128FV
-#define USE_MAX7456
-
-#define BEEPER_PIN           PB4
-#define MOTOR1_PIN           PB0
-#define MOTOR2_PIN           PB1
-#define MOTOR3_PIN           PC9
-#define MOTOR4_PIN           PC8
-#define MOTOR5_PIN           PB6
-#define RX_PPM_PIN           PB8
-#define RX_PWM1_PIN          PB8
-#define LED_STRIP_PIN        PB6
-#define UART1_TX_PIN         PA9
-#define UART2_TX_PIN         PA2
-#define UART6_TX_PIN         PC6
-#define UART1_RX_PIN         PA10
-#define UART2_RX_PIN         PA3
-#define UART6_RX_PIN         PC7
-#define INVERTER_PIN_UART2   PC13
-#define LED0_PIN             PB5
-#define I2C2_SCL_PIN         PB10
-#define I2C2_SDA_PIN         PB11
-#define SPI1_SCK_PIN         PA5
-#define SPI2_SCK_PIN         PB13
-#define SPI3_SCK_PIN         PC10
-#define SPI1_SDI_PIN         PA6
-#define SPI2_SDI_PIN         PB14
-#define SPI3_SDI_PIN         PC11
-#define SPI1_SDO_PIN         PA7
-#define SPI2_SDO_PIN         PB15
-#define SPI3_SDO_PIN         PC12
-#define ESCSERIAL_PIN        PB8
-#define ADC_VBAT_PIN         PC2
-#define ADC_CURR_PIN         PC1
-#define FLASH_CS_PIN         PA15
-#define MAX7456_SPI_CS_PIN   PB12
-#define GYRO_1_EXTI_PIN      PC4
-#define GYRO_1_CS_PIN        PA4
-#define USB_DETECT_PIN       PC5
-#define PULLDOWN1_PIN        PB8
-
-#define TIMER_PIN_MAPPING \
-    TIMER_PIN_MAP( 0, PB8 , 2, -1) \
-    TIMER_PIN_MAP( 1, PB0 , 2,  0) \
-    TIMER_PIN_MAP( 2, PB1 , 2,  0) \
-    TIMER_PIN_MAP( 3, PC9 , 2,  0) \
-    TIMER_PIN_MAP( 4, PC8 , 2,  0) \
-    TIMER_PIN_MAP( 5, PB6 , 1,  0) \
-    TIMER_PIN_MAP( 6, PA9 , 1,  0) \
-    TIMER_PIN_MAP( 7, PA10, 1,  0) \
-    TIMER_PIN_MAP( 8, PA2 , 2,  0) \
-    TIMER_PIN_MAP( 9, PA3 , 3, -1) \
-    TIMER_PIN_MAP(10, PB10, 1,  0) \
-    TIMER_PIN_MAP(11, PB11, 1,  0)
-
-
-#define ADC1_DMA_OPT        1
-
-#define BARO_I2C_INSTANCE (I2CDEV_2)
-#define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
-#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
-#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
-#define DEFAULT_CURRENT_METER_SCALE 470
-#define DEFAULT_RX_FEATURE	FEATURE_RX_SERIAL
-// Ensure RX2 and TX2 pads are bridged to use onboard ELRS RX
-#define SERIALRX_UART			SERIAL_PORT_USART2
-#define MSP_DISPLAYPORT_UART	SERIAL_PORT_USART1
-#define BEEPER_INVERTED
-#define SYSTEM_HSE_MHZ 8
-#define MAX7456_SPI_INSTANCE SPI2
-#define DASHBOARD_I2C_INSTANCE (I2CDEV_2)
-#define FLASH_SPI_INSTANCE SPI3
-#define GYRO_1_SPI_INSTANCE SPI1
-#define GYRO_1_ALIGN CW180_DEG
-#define GYRO_1_ALIGN_YAW 1800
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define FC_TARGET_MCU     STM32F405
+
+#define BOARD_NAME        CADDXF4_AIO_ELRS
+#define MANUFACTURER_ID   CADX
+
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_ICM42688P
+#define USE_ACCGYRO_BMI270
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+
+#define BEEPER_PIN           PB4
+#define MOTOR1_PIN           PB0
+#define MOTOR2_PIN           PB1
+#define MOTOR3_PIN           PC9
+#define MOTOR4_PIN           PC8
+#define MOTOR5_PIN           PB6
+#define RX_PPM_PIN           PB8
+#define RX_PWM1_PIN          PB8
+#define LED_STRIP_PIN        PB6
+#define UART1_TX_PIN         PA9
+#define UART2_TX_PIN         PA2
+#define UART6_TX_PIN         PC6
+#define UART1_RX_PIN         PA10
+#define UART2_RX_PIN         PA3
+#define UART6_RX_PIN         PC7
+#define INVERTER_PIN_UART2   PC13
+#define LED0_PIN             PB5
+#define I2C2_SCL_PIN         PB10
+#define I2C2_SDA_PIN         PB11
+#define SPI1_SCK_PIN         PA5
+#define SPI2_SCK_PIN         PB13
+#define SPI3_SCK_PIN         PC10
+#define SPI1_SDI_PIN         PA6
+#define SPI2_SDI_PIN         PB14
+#define SPI3_SDI_PIN         PC11
+#define SPI1_SDO_PIN         PA7
+#define SPI2_SDO_PIN         PB15
+#define SPI3_SDO_PIN         PC12
+#define ESCSERIAL_PIN        PB8
+#define ADC_VBAT_PIN         PC2
+#define ADC_CURR_PIN         PC1
+#define FLASH_CS_PIN         PA15
+#define MAX7456_SPI_CS_PIN   PB12
+#define GYRO_1_EXTI_PIN      PC4
+#define GYRO_1_CS_PIN        PA4
+#define USB_DETECT_PIN       PC5
+#define PULLDOWN1_PIN        PB8
+
+#define TIMER_PIN_MAPPING \
+    TIMER_PIN_MAP( 0, PB8 , 2, -1) \
+    TIMER_PIN_MAP( 1, PB0 , 2,  0) \
+    TIMER_PIN_MAP( 2, PB1 , 2,  0) \
+    TIMER_PIN_MAP( 3, PC9 , 2,  0) \
+    TIMER_PIN_MAP( 4, PC8 , 2,  0) \
+    TIMER_PIN_MAP( 5, PB6 , 1,  0) \
+    TIMER_PIN_MAP( 6, PA9 , 1,  0) \
+    TIMER_PIN_MAP( 7, PA10, 1,  0) \
+    TIMER_PIN_MAP( 8, PA2 , 2,  0) \
+    TIMER_PIN_MAP( 9, PA3 , 3, -1) \
+    TIMER_PIN_MAP(10, PB10, 1,  0) \
+    TIMER_PIN_MAP(11, PB11, 1,  0)
+
+
+#define ADC1_DMA_OPT        1
+
+#define BARO_I2C_INSTANCE (I2CDEV_2)
+#define MAG_I2C_INSTANCE          (I2CDEV_2)
+#define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 470
+#define DEFAULT_RX_FEATURE	FEATURE_RX_SERIAL
+// Ensure RX2 and TX2 pads are bridged to use onboard ELRS RX
+#define SERIALRX_UART			SERIAL_PORT_USART2
+#define MSP_DISPLAYPORT_UART	SERIAL_PORT_USART1
+#define BEEPER_INVERTED
+#define SYSTEM_HSE_MHZ 8
+#define MAX7456_SPI_INSTANCE SPI2
+#define DASHBOARD_I2C_INSTANCE (I2CDEV_2)
+#define FLASH_SPI_INSTANCE SPI3
+#define GYRO_1_SPI_INSTANCE SPI1
+#define GYRO_1_ALIGN CW180_DEG
+#define GYRO_1_ALIGN_YAW 1800
diff --git a/configs/CCRCF435AIO/config.h b/configs/CCRCF435AIO/config.h
index 07951723..5690ed4f 100644
--- a/configs/CCRCF435AIO/config.h
+++ b/configs/CCRCF435AIO/config.h
@@ -98,6 +98,7 @@
 #define MAX7456_SPI_INSTANCE    SPI2
 #define FLASH_SPI_INSTANCE      SPI2
 #define BARO_I2C_INSTANCE       (I2CDEV_2)
+#define MAG_I2C_INSTANCE                (I2CDEV_2)
 #define USE_I2C_PULLUP
 #define LED0_INVERTED
 #define LED1_INVERTED
diff --git a/configs/DALRCF405/config.h b/configs/DALRCF405/config.h
index 53ac00fc..a88aa4f0 100644
--- a/configs/DALRCF405/config.h
+++ b/configs/DALRCF405/config.h
@@ -97,6 +97,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/DARWINF435/config.h b/configs/DARWINF435/config.h
index dce78157..1b574fdf 100644
--- a/configs/DARWINF435/config.h
+++ b/configs/DARWINF435/config.h
@@ -97,6 +97,7 @@
 #define MAX7456_SPI_INSTANCE    SPI2
 #define FLASH_SPI_INSTANCE      SPI2
 #define BARO_I2C_INSTANCE       (I2CDEV_2)
+#define MAG_I2C_INSTANCE                (I2CDEV_2)
 #define USE_I2C_PULLUP
 #define LED0_INVERTED
 #define LED1_INVERTED
diff --git a/configs/DREAMWORKSF722/config.h b/configs/DREAMWORKSF722/config.h
index 1352cac7..d4f13cf2 100644
--- a/configs/DREAMWORKSF722/config.h
+++ b/configs/DREAMWORKSF722/config.h
@@ -101,6 +101,7 @@
 #define ADC3_DMA_OPT        1
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/FLYCOLORF7_AIO/config.h b/configs/FLYCOLORF7_AIO/config.h
index 4a827c8d..0c0ef741 100644
--- a/configs/FLYCOLORF7_AIO/config.h
+++ b/configs/FLYCOLORF7_AIO/config.h
@@ -99,6 +99,7 @@
 #define ADC3_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/FLYWOOF411EVO_HD/config.h b/configs/FLYWOOF411EVO_HD/config.h
index fff4d71f..f3e71043 100644
--- a/configs/FLYWOOF411EVO_HD/config.h
+++ b/configs/FLYWOOF411EVO_HD/config.h
@@ -81,6 +81,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 
 #define ADC_INSTANCE ADC1
diff --git a/configs/FLYWOOF411HEX/config.h b/configs/FLYWOOF411HEX/config.h
index 19b2769c..173f4581 100644
--- a/configs/FLYWOOF411HEX/config.h
+++ b/configs/FLYWOOF411HEX/config.h
@@ -81,6 +81,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/FOXEERF722DUAL/config.h b/configs/FOXEERF722DUAL/config.h
index 19e61cbf..15a36cee 100644
--- a/configs/FOXEERF722DUAL/config.h
+++ b/configs/FOXEERF722DUAL/config.h
@@ -94,6 +94,7 @@
 #define ADC3_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/FOXEERF722V2/config.h b/configs/FOXEERF722V2/config.h
index 04fe0f00..00339784 100644
--- a/configs/FOXEERF722V2/config.h
+++ b/configs/FOXEERF722V2/config.h
@@ -91,6 +91,7 @@
 #define ADC3_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/FOXEERF722V3/config.h b/configs/FOXEERF722V3/config.h
index 3bb6ad71..df8cfdfc 100644
--- a/configs/FOXEERF722V3/config.h
+++ b/configs/FOXEERF722V3/config.h
@@ -92,6 +92,7 @@
 #define ADC3_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/FOXEERF745V2_AIO/config.h b/configs/FOXEERF745V2_AIO/config.h
index 95071a8f..4dd9f467 100644
--- a/configs/FOXEERF745V2_AIO/config.h
+++ b/configs/FOXEERF745V2_AIO/config.h
@@ -89,6 +89,7 @@
 #define MAG_ALIGN CW180_DEG
 #define MAG_ALIGN_YAW 1800
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/FOXEERF745V3_AIO/config.h b/configs/FOXEERF745V3_AIO/config.h
index ae0e1c42..1a47a050 100644
--- a/configs/FOXEERF745V3_AIO/config.h
+++ b/configs/FOXEERF745V3_AIO/config.h
@@ -90,6 +90,7 @@
 #define MAG_ALIGN CW180_DEG
 #define MAG_ALIGN_YAW 1800
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/FOXEERF745_AIO/config.h b/configs/FOXEERF745_AIO/config.h
index d9c8854a..3fbd76ae 100644
--- a/configs/FOXEERF745_AIO/config.h
+++ b/configs/FOXEERF745_AIO/config.h
@@ -90,6 +90,7 @@
 #define MAG_ALIGN CW180_DEG
 #define MAG_ALIGN_YAW 1800
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/FREEAXISF4/config.h b/configs/FREEAXISF4/config.h
index 183dad2c..a31bed59 100644
--- a/configs/FREEAXISF4/config.h
+++ b/configs/FREEAXISF4/config.h
@@ -79,6 +79,7 @@
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_OFF
 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_OFF
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/FURYF4/config.h b/configs/FURYF4/config.h
index 19adb214..57afec31 100644
--- a/configs/FURYF4/config.h
+++ b/configs/FURYF4/config.h
@@ -90,6 +90,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define BEEPER_INVERTED
diff --git a/configs/GEELANGF411/config.h b/configs/GEELANGF411/config.h
index 6d12af90..c2543315 100644
--- a/configs/GEELANGF411/config.h
+++ b/configs/GEELANGF411/config.h
@@ -78,6 +78,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO
diff --git a/configs/GEMEF411/config.h b/configs/GEMEF411/config.h
index 2844262d..a0ebf3d1 100644
--- a/configs/GEMEF411/config.h
+++ b/configs/GEMEF411/config.h
@@ -86,6 +86,7 @@
 
 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_ON
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO
diff --git a/configs/GEPRCF411_AIO/config.h b/configs/GEPRCF411_AIO/config.h
index 329ca6c3..4454d0d9 100644
--- a/configs/GEPRCF411_AIO/config.h
+++ b/configs/GEPRCF411_AIO/config.h
@@ -90,6 +90,7 @@
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO
 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_OFF
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SCALE 100
diff --git a/configs/GREATMOUNTAINF435/config.h b/configs/GREATMOUNTAINF435/config.h
index 72327927..3a3d4815 100644
--- a/configs/GREATMOUNTAINF435/config.h
+++ b/configs/GREATMOUNTAINF435/config.h
@@ -100,6 +100,7 @@
 #define I2C3_SDA_PIN                    PC1
 
 #define BARO_I2C_INSTANCE               I2CDEV_3
+#define MAG_I2C_INSTANCE                        I2CDEV_3
 #define USE_BARO
 #define USE_BARO_BMP280
 #define USE_BARO_DPS310
diff --git a/configs/HAKRCF405D/config.h b/configs/HAKRCF405D/config.h
index 41abf927..86ecb249 100644
--- a/configs/HAKRCF405D/config.h
+++ b/configs/HAKRCF405D/config.h
@@ -107,6 +107,7 @@
 #define ADC1_DMA_OPT        0
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/HELSEL_STRIKERF7/config.h b/configs/HELSEL_STRIKERF7/config.h
index 6ddc578c..887f445d 100644
--- a/configs/HELSEL_STRIKERF7/config.h
+++ b/configs/HELSEL_STRIKERF7/config.h
@@ -77,6 +77,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SCALE 179
diff --git a/configs/IFLIGHT_DEFENDER_F411/config.h b/configs/IFLIGHT_DEFENDER_F411/config.h
index edb84b7e..38f3a98f 100644
--- a/configs/IFLIGHT_DEFENDER_F411/config.h
+++ b/configs/IFLIGHT_DEFENDER_F411/config.h
@@ -82,6 +82,7 @@
 #define ADC1_DMA_OPT        1
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/IFLIGHT_F411_PRO/config.h b/configs/IFLIGHT_F411_PRO/config.h
index 1a1a051b..47767467 100644
--- a/configs/IFLIGHT_F411_PRO/config.h
+++ b/configs/IFLIGHT_F411_PRO/config.h
@@ -86,6 +86,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/JHEF411HD/config.h b/configs/JHEF411HD/config.h
index 3e64a518..56dd3017 100644
--- a/configs/JHEF411HD/config.h
+++ b/configs/JHEF411HD/config.h
@@ -86,6 +86,7 @@
 #define ADC_INSTANCE ADC1
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/JHEF435/config.h b/configs/JHEF435/config.h
index c9022c07..9b439a23 100644
--- a/configs/JHEF435/config.h
+++ b/configs/JHEF435/config.h
@@ -97,4 +97,5 @@
 #define MAX7456_SPI_INSTANCE    SPI2
 #define FLASH_SPI_INSTANCE      SPI3
 #define BARO_I2C_INSTANCE       (I2CDEV_2)
+#define MAG_I2C_INSTANCE                (I2CDEV_2)
 #define LED0_INVERTED
diff --git a/configs/JHEF7DUAL/config.h b/configs/JHEF7DUAL/config.h
index 080f4ffd..dd852e16 100644
--- a/configs/JHEF7DUAL/config.h
+++ b/configs/JHEF7DUAL/config.h
@@ -102,6 +102,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/JMIF722A/config.h b/configs/JMIF722A/config.h
index 0cf2f8d6..4b875d3e 100644
--- a/configs/JMIF722A/config.h
+++ b/configs/JMIF722A/config.h
@@ -100,6 +100,7 @@
 
 #define ADC_INSTANCE ADC1
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/KAKUTEG4AIO/config.h b/configs/KAKUTEG4AIO/config.h
index 56b64993..1bd167eb 100644
--- a/configs/KAKUTEG4AIO/config.h
+++ b/configs/KAKUTEG4AIO/config.h
@@ -95,6 +95,7 @@
 
 #define ADC_INSTANCE                 ADC2
 #define BARO_I2C_INSTANCE            (I2CDEV_1)
+#define MAG_I2C_INSTANCE                     (I2CDEV_1)
 #define FLASH_SPI_INSTANCE           SPI2
 #define GYRO_1_SPI_INSTANCE          SPI1
 #define MAX7456_SPI_INSTANCE         SPI2
diff --git a/configs/KD722/config.h b/configs/KD722/config.h
index 3085c911..96d0c2b4 100644
--- a/configs/KD722/config.h
+++ b/configs/KD722/config.h
@@ -88,6 +88,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/LDARC_F411/config.h b/configs/LDARC_F411/config.h
index db90a978..74680c2d 100644
--- a/configs/LDARC_F411/config.h
+++ b/configs/LDARC_F411/config.h
@@ -82,6 +82,7 @@
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO
 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_OFF
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 //TODO #define VBAT_DETECT_CELL_VOLTAGE 300
diff --git a/configs/LUXHDAIO-G4/config.h b/configs/LUXHDAIO-G4/config.h
index 3d9343f8..5cfa1f91 100644
--- a/configs/LUXHDAIO-G4/config.h
+++ b/configs/LUXHDAIO-G4/config.h
@@ -96,6 +96,7 @@
 #define BEEPER_INVERTED
 
 #define BARO_I2C_INSTANCE            (I2CDEV_1)
+#define MAG_I2C_INSTANCE                     (I2CDEV_1)
 #define MAX7456_SPI_INSTANCE         SPI2
 #define FLASH_SPI_INSTANCE           SPI2
 
diff --git a/configs/LUXMICROAIO/config.h b/configs/LUXMICROAIO/config.h
index 5e74619f..a2ed42a3 100644
--- a/configs/LUXMICROAIO/config.h
+++ b/configs/LUXMICROAIO/config.h
@@ -107,6 +107,7 @@
 #define BEEPER_INVERTED
 
 #define BARO_I2C_INSTANCE            (I2CDEV_1)
+#define MAG_I2C_INSTANCE                     (I2CDEV_1)
 #define MAX7456_SPI_INSTANCE         SPI2
 #define FLASH_SPI_INSTANCE           SPI2
 
diff --git a/configs/MAMBAG4/config.h b/configs/MAMBAG4/config.h
index e2428f9f..239bae9e 100644
--- a/configs/MAMBAG4/config.h
+++ b/configs/MAMBAG4/config.h
@@ -83,6 +83,7 @@
 
 #define ADC_INSTANCE                    ADC2
 #define BARO_I2C_INSTANCE               (I2CDEV_1)
+#define MAG_I2C_INSTANCE                        (I2CDEV_1)
 #define BEEPER_INVERTED
 #define DEFAULT_BLACKBOX_DEVICE         BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST             DSHOT_DMAR_ON
diff --git a/configs/MATEKF405AIO/config.h b/configs/MATEKF405AIO/config.h
index 20687429..cb344714 100644
--- a/configs/MATEKF405AIO/config.h
+++ b/configs/MATEKF405AIO/config.h
@@ -99,6 +99,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/MATEKF405MINI/config.h b/configs/MATEKF405MINI/config.h
index b1874968..1efc82b3 100644
--- a/configs/MATEKF405MINI/config.h
+++ b/configs/MATEKF405MINI/config.h
@@ -99,6 +99,7 @@
 
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/MEPSF411/config.h b/configs/MEPSF411/config.h
index c607f9f7..bdcdf8d7 100644
--- a/configs/MEPSF411/config.h
+++ b/configs/MEPSF411/config.h
@@ -80,6 +80,7 @@
 
 
 #define BARO_I2C_INSTANCE (I2CDEV_1) 
+#define MAG_I2C_INSTANCE          I2CDEV_1
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO
 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_OFF
diff --git a/configs/MERAKRCF405/config.h b/configs/MERAKRCF405/config.h
index 1cc97173..2376def8 100644
--- a/configs/MERAKRCF405/config.h
+++ b/configs/MERAKRCF405/config.h
@@ -88,6 +88,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/MERAKRCF722/config.h b/configs/MERAKRCF722/config.h
index c8620578..859cf364 100644
--- a/configs/MERAKRCF722/config.h
+++ b/configs/MERAKRCF722/config.h
@@ -87,6 +87,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/NBD_INFINITYAIOV2/config.h b/configs/NBD_INFINITYAIOV2/config.h
index ad7994ec..349a7cbb 100644
--- a/configs/NBD_INFINITYAIOV2/config.h
+++ b/configs/NBD_INFINITYAIOV2/config.h
@@ -78,6 +78,7 @@
 
 #define ADC1_DMA_OPT                    1
 #define MAG_I2C_INSTANCE                (I2CDEV_1)
+#define BARO_I2C_INSTANCE                       (I2CDEV_1)
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_ON
 #define DEFAULT_BLACKBOX_DEVICE         BLACKBOX_DEVICE_FLASH
diff --git a/configs/NBD_INFINITYAIOV2PRO/config.h b/configs/NBD_INFINITYAIOV2PRO/config.h
index 06ddd567..64cfaa05 100644
--- a/configs/NBD_INFINITYAIOV2PRO/config.h
+++ b/configs/NBD_INFINITYAIOV2PRO/config.h
@@ -85,6 +85,7 @@
 
 #define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO
diff --git a/configs/NEUTRONRCF435MINI/config.h b/configs/NEUTRONRCF435MINI/config.h
index a4807f05..4ad5207f 100644
--- a/configs/NEUTRONRCF435MINI/config.h
+++ b/configs/NEUTRONRCF435MINI/config.h
@@ -98,6 +98,7 @@
 #define MAX7456_SPI_INSTANCE    SPI2
 #define FLASH_SPI_INSTANCE      SPI2
 #define BARO_I2C_INSTANCE       (I2CDEV_2)
+#define MAG_I2C_INSTANCE                (I2CDEV_2)
 #define USE_I2C_PULLUP
 #define LED0_INVERTED
 #define LED1_INVERTED
diff --git a/configs/NEUTRONRCG4AIO/config.h b/configs/NEUTRONRCG4AIO/config.h
index cc0dacff..67bb4dc8 100644
--- a/configs/NEUTRONRCG4AIO/config.h
+++ b/configs/NEUTRONRCG4AIO/config.h
@@ -87,6 +87,7 @@
 #define TIMUP5_DMA_OPT      0
 
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_OFF
 #define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_OFF
diff --git a/configs/NIDICI_F4/config.h b/configs/NIDICI_F4/config.h
index 4617c1a4..5a9d4cd6 100644
--- a/configs/NIDICI_F4/config.h
+++ b/configs/NIDICI_F4/config.h
@@ -91,6 +91,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/NUCLEOF722/config.h b/configs/NUCLEOF722/config.h
index fa2b5b62..9e437862 100644
--- a/configs/NUCLEOF722/config.h
+++ b/configs/NUCLEOF722/config.h
@@ -78,5 +78,6 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define GYRO_1_ALIGN CW270_DEG
 #define GYRO_1_ALIGN_YAW 2700
diff --git a/configs/ODDITYRCF7AIO/config.h b/configs/ODDITYRCF7AIO/config.h
index c509d631..9630d7c7 100644
--- a/configs/ODDITYRCF7AIO/config.h
+++ b/configs/ODDITYRCF7AIO/config.h
@@ -100,6 +100,7 @@
 
 #define ADC_INSTANCE ADC1
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/ORQAF7/config.h b/configs/ORQAF7/config.h
index 9eaee1b8..5f81cbf6 100644
--- a/configs/ORQAF7/config.h
+++ b/configs/ORQAF7/config.h
@@ -112,6 +112,7 @@
 #define SERIALRX_UART SERIAL_PORT_USART2
 #define GPS_UART SERIAL_PORT_USART6
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/PODIUMF4/config.h b/configs/PODIUMF4/config.h
index d001db2d..9a507bce 100644
--- a/configs/PODIUMF4/config.h
+++ b/configs/PODIUMF4/config.h
@@ -94,6 +94,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define SYSTEM_HSE_MHZ 8
 #define DASHBOARD_I2C_INSTANCE (I2CDEV_1)
 #define FLASH_SPI_INSTANCE SPI3
diff --git a/configs/PYRODRONEF4PDB/config.h b/configs/PYRODRONEF4PDB/config.h
index d4dbb381..36db2065 100644
--- a/configs/PYRODRONEF4PDB/config.h
+++ b/configs/PYRODRONEF4PDB/config.h
@@ -85,6 +85,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_2)
+#define BARO_I2C_INSTANCE        (I2CDEV_2)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define FLASH_SPI_INSTANCE SPI2
 #define MAX7456_SPI_INSTANCE SPI2
diff --git a/configs/REVO/config.h b/configs/REVO/config.h
index 20102ce3..d1b05f82 100644
--- a/configs/REVO/config.h
+++ b/configs/REVO/config.h
@@ -95,6 +95,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define SYSTEM_HSE_MHZ 8
 #define DASHBOARD_I2C_INSTANCE (I2CDEV_1)
 #define FLASH_SPI_INSTANCE SPI3
diff --git a/configs/RRIOT_F722/config.h b/configs/RRIOT_F722/config.h
index c3692338..a52fc5e4 100644
--- a/configs/RRIOT_F722/config.h
+++ b/configs/RRIOT_F722/config.h
@@ -93,6 +93,7 @@
 #define MAX7456_SPI_INSTANCE SPI2
 #define FLASH_SPI_INSTANCE SPI3
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/RUSHCORE7/config.h b/configs/RUSHCORE7/config.h
index 5775e731..50b2bcfd 100644
--- a/configs/RUSHCORE7/config.h
+++ b/configs/RUSHCORE7/config.h
@@ -93,6 +93,7 @@
 #define ADC3_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/RUSHF7AIO/config.h b/configs/RUSHF7AIO/config.h
index 4ad444d4..279ab3d7 100644
--- a/configs/RUSHF7AIO/config.h
+++ b/configs/RUSHF7AIO/config.h
@@ -103,6 +103,7 @@
 
 #define ADC_INSTANCE                    ADC3
 #define BARO_I2C_INSTANCE               (I2CDEV_1)
+#define MAG_I2C_INSTANCE                        (I2CDEV_1)
 #define FLASH_SPI_INSTANCE              SPI3
 #define GYRO_1_SPI_INSTANCE             SPI1
 #define MAX7456_SPI_INSTANCE            SPI2
diff --git a/configs/SKYSTARSF7HD/config.h b/configs/SKYSTARSF7HD/config.h
index e75ecfa9..ceff6b68 100644
--- a/configs/SKYSTARSF7HD/config.h
+++ b/configs/SKYSTARSF7HD/config.h
@@ -92,6 +92,7 @@
 
 //TODO #define CAMERA_CONTROL_MODE SOFTWARE_PWM
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define ADC_INSTANCE ADC2
 //TODO #define DSHOT_IDLE_VALUE 450
diff --git a/configs/SKYZONEF405/config.h b/configs/SKYZONEF405/config.h
index 2c549eb8..9c5fcc7b 100644
--- a/configs/SKYZONEF405/config.h
+++ b/configs/SKYZONEF405/config.h
@@ -94,6 +94,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/SPARKY2/config.h b/configs/SPARKY2/config.h
index 0033e8d4..e9a67d3c 100644
--- a/configs/SPARKY2/config.h
+++ b/configs/SPARKY2/config.h
@@ -89,6 +89,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define BEEPER_INVERTED
 #define SYSTEM_HSE_MHZ 8
 #define DASHBOARD_I2C_INSTANCE (I2CDEV_1)
diff --git a/configs/SPEDIXF4/config.h b/configs/SPEDIXF4/config.h
index 15658259..417be28f 100644
--- a/configs/SPEDIXF4/config.h
+++ b/configs/SPEDIXF4/config.h
@@ -99,6 +99,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_2)
+#define BARO_I2C_INSTANCE        (I2CDEV_2)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/SPEEDYBEEF4/config.h b/configs/SPEEDYBEEF4/config.h
index bc4702d2..31d955fa 100644
--- a/configs/SPEEDYBEEF4/config.h
+++ b/configs/SPEEDYBEEF4/config.h
@@ -92,6 +92,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/SPEEDYBEEF7MINI/config.h b/configs/SPEEDYBEEF7MINI/config.h
index 80271889..de30f0a6 100644
--- a/configs/SPEEDYBEEF7MINI/config.h
+++ b/configs/SPEEDYBEEF7MINI/config.h
@@ -99,6 +99,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/SPEEDYBEEF7MINIV2/config.h b/configs/SPEEDYBEEF7MINIV2/config.h
index e333485d..2320ddf1 100644
--- a/configs/SPEEDYBEEF7MINIV2/config.h
+++ b/configs/SPEEDYBEEF7MINIV2/config.h
@@ -98,6 +98,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/SPRACINGF4EVO/config.h b/configs/SPRACINGF4EVO/config.h
index 410eff2b..2538b5b9 100644
--- a/configs/SPRACINGF4EVO/config.h
+++ b/configs/SPRACINGF4EVO/config.h
@@ -106,6 +106,7 @@
 #define ADC3_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/SPRACINGF4NEO/config.h b/configs/SPRACINGF4NEO/config.h
index 1d1f6410..d704829f 100644
--- a/configs/SPRACINGF4NEO/config.h
+++ b/configs/SPRACINGF4NEO/config.h
@@ -108,6 +108,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/SPRACINGF7DUAL/config.h b/configs/SPRACINGF7DUAL/config.h
index 1158444b..dfb4002d 100644
--- a/configs/SPRACINGF7DUAL/config.h
+++ b/configs/SPRACINGF7DUAL/config.h
@@ -113,6 +113,7 @@
 
 #define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC3
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
diff --git a/configs/STM32F411DISCOVERY/config.h b/configs/STM32F411DISCOVERY/config.h
index 8d21d6da..a3eea790 100644
--- a/configs/STM32F411DISCOVERY/config.h
+++ b/configs/STM32F411DISCOVERY/config.h
@@ -75,6 +75,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
 #define BEEPER_PWM_HZ 2000
diff --git a/configs/SUB250F411/config.h b/configs/SUB250F411/config.h
index 0f94f70e..10ec115b 100644
--- a/configs/SUB250F411/config.h
+++ b/configs/SUB250F411/config.h
@@ -81,6 +81,7 @@
 #define SERIALRX_UART                   SERIAL_PORT_USART2
 
 #define BARO_I2C_INSTANCE               (I2CDEV_1)
+#define MAG_I2C_INSTANCE                        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE         BLACKBOX_DEVICE_FLASH
 //TODO #define DSHOT_IDLE_VALUE 800
 #define DEFAULT_DSHOT_BURST             DSHOT_DMAR_AUTO
diff --git a/configs/TAKERF411/config.h b/configs/TAKERF411/config.h
index 7289278f..817fcf99 100644
--- a/configs/TAKERF411/config.h
+++ b/configs/TAKERF411/config.h
@@ -81,6 +81,7 @@
 #define SERIALRX_UART                   SERIAL_PORT_USART2
 
 #define BARO_I2C_INSTANCE               (I2CDEV_1)
+#define MAG_I2C_INSTANCE                        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE         BLACKBOX_DEVICE_FLASH
 //TODO #define DSHOT_IDLE_VALUE 800
 #define DEFAULT_DSHOT_BURST             DSHOT_DMAR_AUTO
diff --git a/configs/TBS_LUCID_FC/config.h b/configs/TBS_LUCID_FC/config.h
index a33f2b02..e5efb2af 100644
--- a/configs/TBS_LUCID_FC/config.h
+++ b/configs/TBS_LUCID_FC/config.h
@@ -132,6 +132,7 @@
 
 #define ADC_INSTANCE                        ADC1
 #define BARO_I2C_INSTANCE                   I2CDEV_1
+#define MAG_I2C_INSTANCE                            I2CDEV_1
 
 #define DEFAULT_BLACKBOX_DEVICE             BLACKBOX_DEVICE_FLASH
 
diff --git a/configs/TBS_LUCID_MOD_FC/config.h b/configs/TBS_LUCID_MOD_FC/config.h
index 943a22eb..664cb7db 100644
--- a/configs/TBS_LUCID_MOD_FC/config.h
+++ b/configs/TBS_LUCID_MOD_FC/config.h
@@ -132,6 +132,7 @@
 
 #define ADC_INSTANCE                        ADC1
 #define BARO_I2C_INSTANCE                   I2CDEV_2
+#define MAG_I2C_INSTANCE                            I2CDEV_2
 
 #define DEFAULT_BLACKBOX_DEVICE             BLACKBOX_DEVICE_FLASH
 
diff --git a/configs/TCMMF7/config.h b/configs/TCMMF7/config.h
index 7e689c7e..8c713390 100644
--- a/configs/TCMMF7/config.h
+++ b/configs/TCMMF7/config.h
@@ -106,6 +106,7 @@
 
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_SDCARD
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/TMH7/config.h b/configs/TMH7/config.h
index 18b2a5da..334a5185 100644
--- a/configs/TMH7/config.h
+++ b/configs/TMH7/config.h
@@ -112,6 +112,7 @@
 #define TIMUP8_DMA_OPT      0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/TMOTORF4/config.h b/configs/TMOTORF4/config.h
index b9557e88..ed6a3dcb 100644
--- a/configs/TMOTORF4/config.h
+++ b/configs/TMOTORF4/config.h
@@ -98,6 +98,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_2)
+#define BARO_I2C_INSTANCE        (I2CDEV_2)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/TMOTORF722SE/config.h b/configs/TMOTORF722SE/config.h
index 1d42f6c9..584586a8 100644
--- a/configs/TMOTORF722SE/config.h
+++ b/configs/TMOTORF722SE/config.h
@@ -105,6 +105,7 @@
 
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/TMOTORF7V2/config.h b/configs/TMOTORF7V2/config.h
index 46e9e9c4..ec810177 100644
--- a/configs/TMOTORF7V2/config.h
+++ b/configs/TMOTORF7V2/config.h
@@ -104,6 +104,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/TMVELOXF411/config.h b/configs/TMVELOXF411/config.h
index 154a0d7e..3b6e5e24 100644
--- a/configs/TMVELOXF411/config.h
+++ b/configs/TMVELOXF411/config.h
@@ -75,6 +75,7 @@
 #define ADC1_DMA_OPT        0
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO
diff --git a/configs/TMVELOXF7/config.h b/configs/TMVELOXF7/config.h
index 0ecc6aa3..87c12c7f 100644
--- a/configs/TMVELOXF7/config.h
+++ b/configs/TMVELOXF7/config.h
@@ -98,6 +98,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
diff --git a/configs/VIVAF4AIO/config.h b/configs/VIVAF4AIO/config.h
index e100f8b0..52670b64 100644
--- a/configs/VIVAF4AIO/config.h
+++ b/configs/VIVAF4AIO/config.h
@@ -93,6 +93,7 @@
 #define ADC1_DMA_OPT        1
 
 #define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE        (I2CDEV_1)
 #define ADC_INSTANCE ADC1
 #define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
 #define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/configs/ZEUSF4EVO/config.h b/configs/ZEUSF4EVO/config.h
index 6052d342..28c4ecec 100644
--- a/configs/ZEUSF4EVO/config.h
+++ b/configs/ZEUSF4EVO/config.h
@@ -83,6 +83,7 @@
 
 #define USE_BARO
 #define BARO_I2C_INSTANCE (I2CDEV_1)
+#define MAG_I2C_INSTANCE          (I2CDEV_1)
 #define ADC_INSTANCE ADC1
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #define DEFAULT_DSHOT_BURST DSHOT_DMAR_AUTO