diff --git a/boards/mro/ctrl-zero-f7/src/board_config.h b/boards/mro/ctrl-zero-f7/src/board_config.h
index 5eec0042c0..fce51dcfd4 100644
--- a/boards/mro/ctrl-zero-f7/src/board_config.h
+++ b/boards/mro/ctrl-zero-f7/src/board_config.h
@@ -109,7 +109,7 @@
 #define PX4_SPI_BUS_1_CS_GPIO       {GPIO_SPI1_CS1_ICM20602, GPIO_SPI1_CS2_ICM20948}
 
 #define PX4_SPIDEV_MEMORY           SPIDEV_FLASH(0)
-#define PX4_SPIDEV_BARO             PX4_MK_SPI_SEL(0,DRV_DEVTYPE_DPS310)
+#define PX4_SPIDEV_BARO             PX4_MK_SPI_SEL(0,DRV_BARO_DEVTYPE_DPS310)
 #define PX4_SPI_BUS_2_CS_GPIO       {GPIO_SPI2_CS1_FRAM, GPIO_SPI2_CS2_BARO}
 
 #define PX4_SPIDEV_BMI088_ACC       PX4_MK_SPI_SEL(0,DRV_ACC_DEVTYPE_BMI088)
diff --git a/boards/mro/ctrl-zero-f7/src/spi.cpp b/boards/mro/ctrl-zero-f7/src/spi.cpp
index 90a71ec830..dd5ab9c7db 100644
--- a/boards/mro/ctrl-zero-f7/src/spi.cpp
+++ b/boards/mro/ctrl-zero-f7/src/spi.cpp
@@ -43,7 +43,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(2, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
-		initSPIDevice(DRV_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
+		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
 	}),
 	initSPIBus(5, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h
index 61ed100e0f..9192f65643 100644
--- a/boards/px4/fmu-v5x/src/board_config.h
+++ b/boards/px4/fmu-v5x/src/board_config.h
@@ -231,7 +231,7 @@
 #define PX4_SPIDEV_ICM_20602        PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ICM20602)
 #define PX4_SENSORS1_BUS_CS_GPIO    {GPIO_SPI1_nCS1_ICM20602}
 
-#define PX4_SPIDEV_ISM330           PX4_MK_SPI_SEL(0,DRV_DEVTYPE_ST_ISM330DLC)
+#define PX4_SPIDEV_ISM330           PX4_MK_SPI_SEL(0,DRV_IMU_DEVTYPE_ST_ISM330DLC)
 #define PX4_SENSORS2_BUS_CS_GPIO    {GPIO_SPI2_nCS1_ISM330}
 
 #define PX4_SPIDEV_BMI088_GYR       PX4_MK_SPI_SEL(0,DRV_GYR_DEVTYPE_BMI088)
diff --git a/boards/px4/fmu-v5x/src/spi.cpp b/boards/px4/fmu-v5x/src/spi.cpp
index 4ad043eb17..97b726da10 100644
--- a/boards/px4/fmu-v5x/src/spi.cpp
+++ b/boards/px4/fmu-v5x/src/spi.cpp
@@ -40,7 +40,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	initSPIBus(2, {
-		initSPIDevice(DRV_DEVTYPE_ST_ISM330DLC, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ST_ISM330DLC, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortH, GPIO::Pin12}),
 	}, {GPIO::PortD, GPIO::Pin15}),
 	initSPIBus(3, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
diff --git a/src/drivers/barometer/bmp388/bmp388.cpp b/src/drivers/barometer/bmp388/bmp388.cpp
index c6c47e0c80..183e4386eb 100644
--- a/src/drivers/barometer/bmp388/bmp388.cpp
+++ b/src/drivers/barometer/bmp388/bmp388.cpp
@@ -50,7 +50,7 @@ BMP388::BMP388(IBMP388 *interface) :
 	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
 {
-	_px4_baro.set_device_type(DRV_DEVTYPE_BMP388);
+	_px4_baro.set_device_type(DRV_BARO_DEVTYPE_BMP388);
 }
 
 BMP388::~BMP388()
diff --git a/src/drivers/barometer/dps310/DPS310.cpp b/src/drivers/barometer/dps310/DPS310.cpp
index c9073af825..df3f95f858 100644
--- a/src/drivers/barometer/dps310/DPS310.cpp
+++ b/src/drivers/barometer/dps310/DPS310.cpp
@@ -53,7 +53,7 @@ DPS310::DPS310(device::Device *interface) :
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
 	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comm errors"))
 {
-	_px4_barometer.set_device_type(DRV_DEVTYPE_DPS310);
+	_px4_barometer.set_device_type(DRV_BARO_DEVTYPE_DPS310);
 }
 
 DPS310::~DPS310()
diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h
index 93196679b9..6a5bdc20cb 100644
--- a/src/drivers/drv_sensor.h
+++ b/src/drivers/drv_sensor.h
@@ -61,21 +61,19 @@
 #define DRV_MAG_DEVTYPE_RM3100   0x07
 #define DRV_MAG_DEVTYPE_QMC5883  0x08
 #define DRV_MAG_DEVTYPE_AK09916  0x09
-#define DRV_DEVTYPE_ICM20948     0x0A
+#define DRV_IMU_DEVTYPE_ICM20948 0x0A
 
 #define DRV_ACC_DEVTYPE_LSM303D  0x11
 #define DRV_ACC_DEVTYPE_BMA180   0x12
-#define DRV_ACC_DEVTYPE_MPU6000  0x13 // TODO: remove this
+#define DRV_ACC_DEVTYPE_MPU6000_LEGACY  0x13
 #define DRV_ACC_DEVTYPE_ACCELSIM 0x14
-#define DRV_ACC_DEVTYPE_MPU9250  0x16 // TOOD: remove this
+#define DRV_ACC_DEVTYPE_MPU9250_LEGACY  0x16
 #define DRV_ACC_DEVTYPE_BMI160   0x17
 
-#define DRV_GYR_DEVTYPE_MPU6000  0x21
-#define DRV_IMU_DEVTYPE_MPU6000  DRV_GYR_DEVTYPE_MPU6000
+#define DRV_IMU_DEVTYPE_MPU6000  0x21
 #define DRV_GYR_DEVTYPE_L3GD20   0x22
 #define DRV_GYR_DEVTYPE_GYROSIM  0x23
-#define DRV_GYR_DEVTYPE_MPU9250  0x24
-#define DRV_IMU_DEVTYPE_MPU9250  DRV_GYR_DEVTYPE_MPU9250
+#define DRV_IMU_DEVTYPE_MPU9250  0x24
 #define DRV_GYR_DEVTYPE_BMI160   0x25
 
 #define DRV_RNG_DEVTYPE_MB12XX   0x31
@@ -84,15 +82,12 @@
 #define DRV_ACC_DEVTYPE_MPU6500  0x34
 #define DRV_GYR_DEVTYPE_MPU6050  0x35
 #define DRV_GYR_DEVTYPE_MPU6500  0x36
-#define DRV_ACC_DEVTYPE_ICM20602	0x37 // TODO: remove this
-#define DRV_GYR_DEVTYPE_ICM20602	0x38
-#define DRV_IMU_DEVTYPE_ICM20602	DRV_GYR_DEVTYPE_ICM20602
-#define DRV_ACC_DEVTYPE_ICM20608	0x39
-#define DRV_GYR_DEVTYPE_ICM20608	0x3A // TODO: remove this
-#define DRV_IMU_DEVTYPE_ICM20608	DRV_GYR_DEVTYPE_ICM20608
-#define DRV_ACC_DEVTYPE_ICM20689	0x3B
-#define DRV_GYR_DEVTYPE_ICM20689	0x3C // TODO: remove this
-#define DRV_IMU_DEVTYPE_ICM20689	DRV_GYR_DEVTYPE_ICM20689
+#define DRV_ACC_DEVTYPE_ICM20602_LEGACY	0x37
+#define DRV_IMU_DEVTYPE_ICM20602 0x38
+#define DRV_ACC_DEVTYPE_ICM20608_LEGACY	0x39
+#define DRV_IMU_DEVTYPE_ICM20608 0x3A
+#define DRV_ACC_DEVTYPE_ICM20689_LEGACY	0x3B
+#define DRV_IMU_DEVTYPE_ICM20689 0x3C
 #define DRV_BARO_DEVTYPE_MS5611		0x3D
 #define DRV_BARO_DEVTYPE_MS5607		0x3E
 #define DRV_BARO_DEVTYPE_BMP280		0x3F
@@ -126,9 +121,9 @@
 #define DRV_GYR_DEVTYPE_ADIS16497	0x64
 #define DRV_BARO_DEVTYPE_BAROSIM	0x65
 #define DRV_GYR_DEVTYPE_BMI088		0x66
-#define DRV_DEVTYPE_BMP388		0x67
-#define DRV_DEVTYPE_DPS310		0x68
-#define DRV_DEVTYPE_ST_ISM330DLC	0x69
+#define DRV_BARO_DEVTYPE_BMP388	0x67
+#define DRV_BARO_DEVTYPE_DPS310	0x68
+#define DRV_IMU_DEVTYPE_ST_ISM330DLC	0x69
 #define DRV_ACC_DEVTYPE_BMI088		0x6a
 #define DRV_OSD_DEVTYPE_ATXXXX		0x6b
 #define DRV_FLOW_DEVTYPE_PMW3901	0x6c
diff --git a/src/drivers/imu/bmi088/BMI088_accel.cpp b/src/drivers/imu/bmi088/BMI088_accel.cpp
index 96182032cd..beb1a31682 100644
--- a/src/drivers/imu/bmi088/BMI088_accel.cpp
+++ b/src/drivers/imu/bmi088/BMI088_accel.cpp
@@ -62,7 +62,7 @@ BMI088_accel::BMI088_accel(int bus, const char *path_accel, uint32_t device, enu
 	_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
 	_got_duplicate(false)
 {
-	_px4_accel.set_device_type(DRV_GYR_DEVTYPE_BMI088);
+	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_BMI088);
 }
 
 BMI088_accel::~BMI088_accel()
diff --git a/src/drivers/imu/icm20948/icm20948.cpp b/src/drivers/imu/icm20948/icm20948.cpp
index 81df4f663f..7011770d71 100644
--- a/src/drivers/imu/icm20948/icm20948.cpp
+++ b/src/drivers/imu/icm20948/icm20948.cpp
@@ -100,8 +100,8 @@ ICM20948::ICM20948(device::Device *interface, device::Device *mag_interface, enu
 	_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good_trans")),
 	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
 {
-	_px4_accel.set_device_type(DRV_DEVTYPE_ICM20948);
-	_px4_gyro.set_device_type(DRV_DEVTYPE_ICM20948);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20948);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20948);
 }
 
 ICM20948::~ICM20948()
diff --git a/src/drivers/imu/icm20948/icm20948_i2c.cpp b/src/drivers/imu/icm20948/icm20948_i2c.cpp
index 938ebf8d16..3e18e2a34d 100644
--- a/src/drivers/imu/icm20948/icm20948_i2c.cpp
+++ b/src/drivers/imu/icm20948/icm20948_i2c.cpp
@@ -72,7 +72,7 @@ ICM20948_I2C_interface(int bus, uint32_t address)
 ICM20948_I2C::ICM20948_I2C(int bus, uint32_t address) :
 	I2C("ICM20948_I2C", nullptr, bus, address, 400000)
 {
-	_device_id.devid_s.devtype = DRV_DEVTYPE_ICM20948;
+	_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
 }
 
 int
diff --git a/src/drivers/imu/icm20948/icm20948_spi.cpp b/src/drivers/imu/icm20948/icm20948_spi.cpp
index 94b714e0d4..0b8619e29f 100644
--- a/src/drivers/imu/icm20948/icm20948_spi.cpp
+++ b/src/drivers/imu/icm20948/icm20948_spi.cpp
@@ -92,7 +92,7 @@ ICM20948_SPI_interface(int bus, uint32_t cs)
 ICM20948_SPI::ICM20948_SPI(int bus, uint32_t device) :
 	SPI("ICM20948", nullptr, bus, device, SPIDEV_MODE3, ICM20948_LOW_SPI_BUS_SPEED)
 {
-	_device_id.devid_s.devtype = DRV_DEVTYPE_ICM20948;
+	_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
 }
 
 void
diff --git a/src/drivers/imu/icm20948/mag_i2c.cpp b/src/drivers/imu/icm20948/mag_i2c.cpp
index 39827b6231..3ac0eb077a 100644
--- a/src/drivers/imu/icm20948/mag_i2c.cpp
+++ b/src/drivers/imu/icm20948/mag_i2c.cpp
@@ -69,7 +69,7 @@ AK09916_I2C_interface(int bus)
 AK09916_I2C::AK09916_I2C(int bus) :
 	I2C("AK09916_I2C", nullptr, bus, AK09916_I2C_ADDR, 400000)
 {
-	_device_id.devid_s.devtype = DRV_DEVTYPE_ICM20948;
+	_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
 }
 
 int
diff --git a/src/drivers/imu/invensense/icm20602/ICM20602.cpp b/src/drivers/imu/invensense/icm20602/ICM20602.cpp
index 9e6508935c..69d9142ab0 100644
--- a/src/drivers/imu/invensense/icm20602/ICM20602.cpp
+++ b/src/drivers/imu/invensense/icm20602/ICM20602.cpp
@@ -48,10 +48,9 @@ ICM20602::ICM20602(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
 {
-	set_device_type(DRV_ACC_DEVTYPE_ICM20602);
-
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20602);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
+	set_device_type(DRV_IMU_DEVTYPE_ICM20602);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
 
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 }
diff --git a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
index 811bb3b8d8..d42bab8472 100644
--- a/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+++ b/src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
@@ -48,10 +48,10 @@ ICM20608G::ICM20608G(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
 {
-	set_device_type(DRV_ACC_DEVTYPE_ICM20608);
+	set_device_type(DRV_IMU_DEVTYPE_ICM20608);
 
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20608);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20608);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
 
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 }
diff --git a/src/drivers/imu/invensense/icm20689/ICM20689.cpp b/src/drivers/imu/invensense/icm20689/ICM20689.cpp
index e40e5b7b6b..33239604ff 100644
--- a/src/drivers/imu/invensense/icm20689/ICM20689.cpp
+++ b/src/drivers/imu/invensense/icm20689/ICM20689.cpp
@@ -48,10 +48,9 @@ ICM20689::ICM20689(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
 {
-	set_device_type(DRV_ACC_DEVTYPE_ICM20689);
-
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20689);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20689);
+	set_device_type(DRV_IMU_DEVTYPE_ICM20689);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
 
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 }
diff --git a/src/drivers/imu/invensense/mpu6000/MPU6000.cpp b/src/drivers/imu/invensense/mpu6000/MPU6000.cpp
index d50e37a69e..b40ffdfcc7 100644
--- a/src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+++ b/src/drivers/imu/invensense/mpu6000/MPU6000.cpp
@@ -54,9 +54,9 @@ MPU6000::MPU6000(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
 {
-	set_device_type(DRV_ACC_DEVTYPE_MPU6000);
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU6000);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU6000);
+	set_device_type(DRV_IMU_DEVTYPE_MPU6000);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
 
 	_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
 	_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
diff --git a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
index f459984a79..9b8252aaa4 100644
--- a/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+++ b/src/drivers/imu/invensense/mpu9250/MPU9250.cpp
@@ -48,10 +48,9 @@ MPU9250::MPU9250(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel(get_device_id(), ORB_PRIO_VERY_HIGH, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_VERY_HIGH, rotation)
 {
-	set_device_type(DRV_ACC_DEVTYPE_MPU9250);
-
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU9250);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU9250);
+	set_device_type(DRV_IMU_DEVTYPE_MPU9250);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
 
 	ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
 }
diff --git a/src/drivers/imu/mpu6000/MPU6000.cpp b/src/drivers/imu/mpu6000/MPU6000.cpp
index 7bbb0e97e3..2b8e3efffc 100644
--- a/src/drivers/imu/mpu6000/MPU6000.cpp
+++ b/src/drivers/imu/mpu6000/MPU6000.cpp
@@ -54,23 +54,23 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
 	switch (_device_type) {
 	default:
 	case MPU_DEVICE_TYPE_MPU6000:
-		_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU6000);
-		_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU6000);
+		_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
+		_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
 		break;
 
 	case MPU_DEVICE_TYPE_ICM20602:
-		_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20602);
-		_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20602);
+		_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
+		_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
 		break;
 
 	case MPU_DEVICE_TYPE_ICM20608:
-		_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20608);
-		_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20608);
+		_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
+		_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608);
 		break;
 
 	case MPU_DEVICE_TYPE_ICM20689:
-		_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ICM20689);
-		_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ICM20689);
+		_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
+		_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
 		break;
 	}
 }
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 39f89c009c..336db75f86 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -81,8 +81,8 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum
 	_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
 	_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
 {
-	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_MPU9250);
-	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_MPU9250);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
 }
 
 MPU9250::~MPU9250()
diff --git a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
index fbd19c2e56..7704838fa1 100644
--- a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
@@ -70,7 +70,7 @@ MPU9250_I2C_interface(int bus, uint32_t address)
 MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
 	I2C("MPU9250_I2C", nullptr, bus, address, 400000)
 {
-	set_device_type(DRV_ACC_DEVTYPE_MPU9250);
+	set_device_type(DRV_IMU_DEVTYPE_MPU9250);
 }
 
 int
diff --git a/src/drivers/imu/mpu9250/mpu9250_spi.cpp b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
index 38c25ffe2d..2badcf0f05 100644
--- a/src/drivers/imu/mpu9250/mpu9250_spi.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
@@ -88,7 +88,7 @@ MPU9250_SPI_interface(int bus, uint32_t cs)
 MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
 	SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
 {
-	set_device_type(DRV_ACC_DEVTYPE_MPU9250);
+	set_device_type(DRV_IMU_DEVTYPE_MPU9250);
 }
 
 void
diff --git a/src/drivers/imu/st/ism330dlc/ISM330DLC.cpp b/src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
index 62cef7de94..68ad0bb2af 100644
--- a/src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
+++ b/src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
@@ -48,9 +48,9 @@ ISM330DLC::ISM330DLC(int bus, uint32_t device, enum Rotation rotation) :
 	_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
 	_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
 {
-	set_device_type(DRV_DEVTYPE_ST_ISM330DLC);
-	_px4_accel.set_device_type(DRV_DEVTYPE_ST_ISM330DLC);
-	_px4_gyro.set_device_type(DRV_DEVTYPE_ST_ISM330DLC);
+	set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
+	_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
+	_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
 
 	_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
 	_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
diff --git a/src/lib/drivers/device/nuttx/SPI.cpp b/src/lib/drivers/device/nuttx/SPI.cpp
index 413b717980..d6eab6ebe3 100644
--- a/src/lib/drivers/device/nuttx/SPI.cpp
+++ b/src/lib/drivers/device/nuttx/SPI.cpp
@@ -67,7 +67,9 @@ SPI::SPI(const char *name, const char *devname, int bus, uint32_t device, enum s
 	// fill in _device_id fields for a SPI device
 	_device_id.devid_s.bus_type = DeviceBusType_SPI;
 	_device_id.devid_s.bus = bus;
-	_device_id.devid_s.address = (uint8_t)device;
+	// Use the 2. LSB byte as SPI address. This is currently 0, but will allow to extend
+	// for multiple instances of the same device on a bus, should that ever be required.
+	_device_id.devid_s.address = (uint8_t)(device >> 8);
 	// devtype needs to be filled in by the driver
 	_device_id.devid_s.devtype = 0;
 
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
index 6ee0255856..7845e8c2ff 100644
--- a/src/lib/parameters/CMakeLists.txt
+++ b/src/lib/parameters/CMakeLists.txt
@@ -128,6 +128,11 @@ if ("${CONFIG_SHMEM}" STREQUAL "1")
 	list(APPEND SRCS parameters_shmem.cpp)
 else()
 	list(APPEND SRCS parameters.cpp)
+	if(PX4_TESTING)
+		list(APPEND SRCS param_translation_unit_tests.cpp)
+	else()
+		list(APPEND SRCS param_translation.cpp)
+	endif()
 endif()
 
 if(${PX4_PLATFORM} STREQUAL "nuttx")
diff --git a/src/lib/parameters/flashparams/flashparams.cpp b/src/lib/parameters/flashparams/flashparams.cpp
index c04f0f8574..561c9bf241 100644
--- a/src/lib/parameters/flashparams/flashparams.cpp
+++ b/src/lib/parameters/flashparams/flashparams.cpp
@@ -57,6 +57,7 @@
 #include <parameters/tinybson/tinybson.h>
 #include "flashparams.h"
 #include "flashfs.h"
+#include "../param_translation.h"
 
 #if 0
 # define debug(fmt, args...)            do { warnx(fmt, ##args); } while(0)
@@ -300,6 +301,8 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 		goto out;
 	}
 
+	param_modify_on_import(node->name, node->type, v);
+
 	if (param_set_external(param, v, state->mark_saved, true)) {
 
 		debug("error setting value for '%s'", node->name);
diff --git a/src/lib/parameters/param_translation.cpp b/src/lib/parameters/param_translation.cpp
new file mode 100644
index 0000000000..db34a577b0
--- /dev/null
+++ b/src/lib/parameters/param_translation.cpp
@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "param_translation.h"
+
+
+#include <px4_platform_common/log.h>
+#include <lib/drivers/device/Device.hpp>
+#include <drivers/drv_sensor.h>
+
+bool param_modify_on_import(const char *name, bson_type_t type, void *value)
+{
+	// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
+
+	if (type != BSON_INT32) {
+		return false;
+	}
+
+	int32_t *ivalue = (int32_t *)value;
+
+	const char *cal_id_params[] = {
+		"CAL_ACC0_ID",
+		"CAL_GYRO0_ID",
+		"CAL_MAG0_ID",
+		"TC_A0_ID",
+		"TC_B0_ID",
+		"TC_G0_ID",
+		"CAL_ACC1_ID",
+		"CAL_GYRO1_ID",
+		"CAL_MAG1_ID",
+		"TC_A1_ID",
+		"TC_B1_ID",
+		"TC_G1_ID",
+		"CAL_ACC2_ID",
+		"CAL_GYRO2_ID",
+		"CAL_MAG2_ID",
+		"TC_A2_ID",
+		"TC_B2_ID",
+		"TC_G2_ID",
+		"CAL_ACC_PRIME",
+		"CAL_GYRO_PRIME",
+		"CAL_MAG_PRIME",
+	};
+	bool found = false;
+
+	for (int i = 0; i < sizeof(cal_id_params) / sizeof(cal_id_params[0]); ++i) {
+		if (strcmp(cal_id_params[i], name) == 0) {
+			found = true;
+			break;
+		}
+	}
+
+	if (!found) {
+		return false;
+	}
+
+
+	device::Device::DeviceId device_id;
+	device_id.devid = (uint32_t) * ivalue;
+
+	// SPI board config translation
+	if (device_id.devid_s.bus_type == device::Device::DeviceBusType_SPI) {
+		device_id.devid_s.address = 0;
+	}
+
+	// deprecated ACC -> IMU translations
+	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU6000_LEGACY) {
+		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU6000;
+	}
+
+	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_MPU9250_LEGACY) {
+		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_MPU9250;
+	}
+
+	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20602_LEGACY) {
+		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20602;
+	}
+
+	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20608_LEGACY) {
+		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20608;
+	}
+
+	if (device_id.devid_s.devtype == DRV_ACC_DEVTYPE_ICM20689_LEGACY) {
+		device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20689;
+	}
+
+	int32_t new_value = (int32_t)device_id.devid;
+
+	if (new_value != *ivalue) {
+		PX4_INFO("param modify: %s, value=0x%x (old=0x%x)", name, new_value, *ivalue);
+		*ivalue = new_value;
+		return true;
+	}
+
+	return false;
+}
diff --git a/src/lib/parameters/param_translation.h b/src/lib/parameters/param_translation.h
new file mode 100644
index 0000000000..80f0f3e203
--- /dev/null
+++ b/src/lib/parameters/param_translation.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "tinybson/tinybson.h"
+
+__EXPORT bool param_modify_on_import(const char *name, bson_type_t type, void *value);
+
diff --git a/src/lib/parameters/param_translation_unit_tests.cpp b/src/lib/parameters/param_translation_unit_tests.cpp
new file mode 100644
index 0000000000..7aa3fbe875
--- /dev/null
+++ b/src/lib/parameters/param_translation_unit_tests.cpp
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "param_translation.h"
+
+bool param_modify_on_import(const char *name, bson_type_t type, void *value)
+{
+	// don't modify params for unit tests
+	return false;
+}
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index f768d62a31..f7ccfdd8e6 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -42,6 +42,7 @@
  */
 
 #include "param.h"
+#include "param_translation.h"
 #include <parameters/px4_parameters.h>
 #include "tinybson/tinybson.h"
 
@@ -1261,6 +1262,8 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 		goto out;
 	}
 
+	param_modify_on_import(node->name, node->type, v);
+
 	if (param_set_internal(param, v, state->mark_saved, true)) {
 		PX4_DEBUG("error setting value for '%s'", node->name);
 		goto out;