diff --git a/docs/development/msp/inav_enums.json b/docs/development/msp/inav_enums.json
index 63f3eb2941b..6c5ce2b96fe 100644
--- a/docs/development/msp/inav_enums.json
+++ b/docs/development/msp/inav_enums.json
@@ -849,13 +849,14 @@
         "DEVHW_TOF10120_I2C": "48",
         "DEVHW_TERARANGER_EVO_I2C": "49",
         "DEVHW_MS4525": "50",
-        "DEVHW_DLVR": "51",
-        "DEVHW_M25P16": "52",
-        "DEVHW_W25N": "53",
-        "DEVHW_UG2864": "54",
-        "DEVHW_SDCARD": "55",
-        "DEVHW_IRLOCK": "56",
-        "DEVHW_PCF8574": "57"
+        "DEVHW_MS5525": "51",
+        "DEVHW_DLVR": "52",
+        "DEVHW_M25P16": "53",
+        "DEVHW_W25N": "54",
+        "DEVHW_UG2864": "55",
+        "DEVHW_SDCARD": "56",
+        "DEVHW_IRLOCK": "57",
+        "DEVHW_PCF8574": "58"
     },
     "deviceFlags_e": {
         "_source": "inav/src/main/drivers/bus.h",
@@ -1764,6 +1765,12 @@
         "IBUS_MEAS_VALUE_GPS_LON2": "145",
         "IBUS_MEAS_VALUE_GPS": "253"
     },
+    "icm42605Variant_e": {
+        "_source": "inav/src/main/drivers/accgyro/accgyro_icm42605.c",
+        "ICM42605_VARIANT_42605": "0",
+        "ICM42605_VARIANT_42686P": "1",
+        "ICM42605_VARIANT_42688P": "2"
+    },
     "inputSource_e": {
         "_source": "inav/src/main/flight/servos.h",
         "INPUT_STABILIZED_ROLL": "0",
@@ -2123,6 +2130,7 @@
         "LSM6DXX_VAL_CTRL1_XL_LPF2": "1",
         "LSM6DXX_VAL_CTRL2_G_ODR6664": "10",
         "LSM6DXX_VAL_CTRL2_G_2000DPS": "3",
+        "LSM6DXX_VAL_CTRL3_C_BDU": "BIT(6)",
         "LSM6DXX_VAL_CTRL3_C_H_LACTIVE": "0",
         "LSM6DXX_VAL_CTRL3_C_PP_OD": "0",
         "LSM6DXX_VAL_CTRL3_C_SIM": "0",
@@ -2140,7 +2148,21 @@
         "LSM6DXX_VAL_CTRL7_G_HPM_G_65": "1",
         "LSM6DXX_VAL_CTRL7_G_HPM_G_260": "2",
         "LSM6DXX_VAL_CTRL7_G_HPM_G_1040": "3",
-        "LSM6DXX_VAL_CTRL9_XL_I3C_DISABLE": "BIT(1)"
+        "LSM6DXX_VAL_CTRL9_XL_I3C_DISABLE": "BIT(1)",
+        "LSM6DXX_VAL_CTRL1_XL_V_OPMODE_HIGH_ACCURACY": "1",
+        "LSM6DXX_VAL_CTRL1_XL_V_ODR_1000HZ_HAODR1": "9",
+        "LSM6DXX_VAL_CTRL2_G_V_OPMODE_HIGH_ACCURACY": "1",
+        "LSM6DXX_VAL_CTRL2_G_V_ODR_8000HZ_HAODR1": "12",
+        "LSM6DXX_VAL_HAODR_CFG_MODE1": "1",
+        "LSM6DXX_VAL_CTRL6_C_V_FS_G_2000DPS": "4",
+        "LSM6DXX_VAL_CTRL6_C_V_DSK320X_RESERVED_BIT3": "BIT(3)",
+        "LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_288HZ": "0",
+        "LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_215HZ": "1",
+        "LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_157HZ": "2",
+        "LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_455HZ": "3",
+        "LSM6DXX_VAL_CTRL7_G_V_LPF1_EN": "BIT(0)",
+        "LSM6DXX_VAL_CTRL8_XL_V_FS_16G": "3",
+        "LSM6DXX_VAL_CTRL4_C_V_DRDY_PULSED": "BIT(1)"
     },
     "lsm6dxxRegister_e": {
         "_source": "inav/src/main/drivers/accgyro/accgyro_lsm6dxx.h",
@@ -2172,7 +2194,8 @@
         "LSM6DXX_REG_OUTY_L_A": "42",
         "LSM6DXX_REG_OUTY_H_A": "43",
         "LSM6DXX_REG_OUTZ_L_A": "44",
-        "LSM6DXX_REG_OUTZ_H_A": "45"
+        "LSM6DXX_REG_OUTZ_H_A": "45",
+        "LSM6DXX_REG_HAODR_CFG": "98"
     },
     "ltm_frame_e": {
         "_source": "inav/src/main/telemetry/ltm.h",
@@ -2335,7 +2358,8 @@
         "MULTI_FUNC_3": "3",
         "MULTI_FUNC_4": "4",
         "MULTI_FUNC_5": "5",
-        "MULTI_FUNC_END": "6"
+        "MULTI_FUNC_6": "6",
+        "MULTI_FUNC_END": "7"
     },
     "multiFunctionFlags_e": {
         "_source": "inav/src/main/fc/multifunction.h",
@@ -3062,7 +3086,8 @@
         "PITOT_VIRTUAL": "4",
         "PITOT_FAKE": "5",
         "PITOT_MSP": "6",
-        "PITOT_DLVR": "7"
+        "PITOT_DLVR": "7",
+        "PITOT_MS5525": "8"
     },
     "pollType_e": {
         "_source": "inav/src/main/io/smartport_master.c",
@@ -3301,8 +3326,9 @@
         "_source": "inav/src/main/io/displayport_msp_osd.c",
         "SD_3016": "0",
         "HD_5018": "1",
-        "HD_6022": "2",
-        "HD_5320": "3"
+        "HD_3016": "2",
+        "HD_6022": "3",
+        "HD_5320": "4"
     },
     "resourceOwner_e": {
         "_source": "inav/src/main/drivers/resource.h",
@@ -3469,7 +3495,7 @@
         "SDCARD_OPERATION_FAILURE": "3"
     },
     "sdcardReceiveBlockStatus_e": {
-        "_source": "inav/src/main/drivers/sdcard/sdcard_spi.c",
+        "_source": "inav/src/main/drivers/sdcard/sdcard_sdio.c",
         "SDCARD_RECEIVE_SUCCESS": "0",
         "SDCARD_RECEIVE_BLOCK_IN_PROGRESS": "1",
         "SDCARD_RECEIVE_ERROR": "2"
@@ -3691,7 +3717,12 @@
         "HITL_AIRSPEED": "(1 << 6)",
         "HITL_EXTENDED_FLAGS": "(1 << 7)",
         "HITL_GPS_TIMEOUT": "(1 << 8)",
-        "HITL_PITOT_FAILURE": "(1 << 9)"
+        "HITL_PITOT_FAILURE": "(1 << 9)",
+        "HITL_CURRENT_SENSOR": "(1 << 10)",
+        "HITL_SIM_RC_INPUT": "(1 << 11)",
+        "HITL_RANGEFINDER": "(1 << 12)",
+        "HITL_FAILSAFE_TRIGGERED": "(1 << 13)",
+        "HITL_SITL_MODE": "(1 << 14)"
     },
     "smartAudioVersion_e": {
         "_source": "inav/src/main/io/vtx_smartaudio.h",
@@ -3838,7 +3869,7 @@
         "THR_HI": "(2 << (2 * THROTTLE))"
     },
     "systemState_e": {
-        "_source": "inav/src/main/fc/fc_init.h",
+        "_source": "inav/src/main/fc/fc_init.c",
         "SYSTEM_STATE_INITIALISING": "0",
         "SYSTEM_STATE_CONFIG_LOADED": "(1 << 0)",
         "SYSTEM_STATE_SENSORS_READY": "(1 << 1)",
@@ -3850,7 +3881,8 @@
         "_source": "inav/src/main/drivers/timer.h",
         "TCH_DMA_IDLE": "0",
         "TCH_DMA_READY": "1",
-        "TCH_DMA_ACTIVE": "2"
+        "TCH_DMA_ACTIVE": "2",
+        "TCH_DMA_CIRCULAR": "3"
     },
     "tempSensorType_e": {
         "_source": "inav/src/main/sensors/temperature.h",
diff --git a/docs/development/msp/inav_enums_ref.md b/docs/development/msp/inav_enums_ref.md
index 802e813ab43..8ed0540edc9 100644
--- a/docs/development/msp/inav_enums_ref.md
+++ b/docs/development/msp/inav_enums_ref.md
@@ -150,6 +150,7 @@
 - [ibusSensorType1_e](#enum-ibussensortype1_e)
 - [ibusSensorType_e](#enum-ibussensortype_e)
 - [ibusSensorValue_e](#enum-ibussensorvalue_e)
+- [icm42605Variant_e](#enum-icm42605variant_e)
 - [inputSource_e](#enum-inputsource_e)
 - [itermRelax_e](#enum-itermrelax_e)
 - [led_pin_pwm_mode_e](#enum-led_pin_pwm_mode_e)
@@ -1455,13 +1456,14 @@
 | `DEVHW_TOF10120_I2C` | 48 |  |
 | `DEVHW_TERARANGER_EVO_I2C` | 49 |  |
 | `DEVHW_MS4525` | 50 |  |
-| `DEVHW_DLVR` | 51 |  |
-| `DEVHW_M25P16` | 52 |  |
-| `DEVHW_W25N` | 53 |  |
-| `DEVHW_UG2864` | 54 |  |
-| `DEVHW_SDCARD` | 55 |  |
-| `DEVHW_IRLOCK` | 56 |  |
-| `DEVHW_PCF8574` | 57 |  |
+| `DEVHW_MS5525` | 51 |  |
+| `DEVHW_DLVR` | 52 |  |
+| `DEVHW_M25P16` | 53 |  |
+| `DEVHW_W25N` | 54 |  |
+| `DEVHW_UG2864` | 55 |  |
+| `DEVHW_SDCARD` | 56 |  |
+| `DEVHW_IRLOCK` | 57 |  |
+| `DEVHW_PCF8574` | 58 |  |
 
 ---
 ## <a id="enum-deviceflags_e"></a>`deviceFlags_e`
@@ -2797,6 +2799,17 @@
 | `IBUS_MEAS_VALUE_GPS_LON2` | 145 |  |
 | `IBUS_MEAS_VALUE_GPS` | 253 |  |
 
+---
+## <a id="enum-icm42605variant_e"></a>`icm42605Variant_e`
+
+> Source: ../../../src/main/drivers/accgyro/accgyro_icm42605.c
+
+| Enumerator | Value | Condition |
+|---|---:|---|
+| `ICM42605_VARIANT_42605` | 0 |  |
+| `ICM42605_VARIANT_42686P` | 1 |  |
+| `ICM42605_VARIANT_42688P` | 2 |  |
+
 ---
 ## <a id="enum-inputsource_e"></a>`inputSource_e`
 
@@ -3243,6 +3256,7 @@
 | `LSM6DXX_VAL_CTRL1_XL_LPF2` | 1 |  |
 | `LSM6DXX_VAL_CTRL2_G_ODR6664` | 10 |  |
 | `LSM6DXX_VAL_CTRL2_G_2000DPS` | 3 |  |
+| `LSM6DXX_VAL_CTRL3_C_BDU` | BIT(6) |  |
 | `LSM6DXX_VAL_CTRL3_C_H_LACTIVE` | 0 |  |
 | `LSM6DXX_VAL_CTRL3_C_PP_OD` | 0 |  |
 | `LSM6DXX_VAL_CTRL3_C_SIM` | 0 |  |
@@ -3261,6 +3275,20 @@
 | `LSM6DXX_VAL_CTRL7_G_HPM_G_260` | 2 |  |
 | `LSM6DXX_VAL_CTRL7_G_HPM_G_1040` | 3 |  |
 | `LSM6DXX_VAL_CTRL9_XL_I3C_DISABLE` | BIT(1) |  |
+| `LSM6DXX_VAL_CTRL1_XL_V_OPMODE_HIGH_ACCURACY` | 1 |  |
+| `LSM6DXX_VAL_CTRL1_XL_V_ODR_1000HZ_HAODR1` | 9 |  |
+| `LSM6DXX_VAL_CTRL2_G_V_OPMODE_HIGH_ACCURACY` | 1 |  |
+| `LSM6DXX_VAL_CTRL2_G_V_ODR_8000HZ_HAODR1` | 12 |  |
+| `LSM6DXX_VAL_HAODR_CFG_MODE1` | 1 |  |
+| `LSM6DXX_VAL_CTRL6_C_V_FS_G_2000DPS` | 4 |  |
+| `LSM6DXX_VAL_CTRL6_C_V_DSK320X_RESERVED_BIT3` | BIT(3) |  |
+| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_288HZ` | 0 |  |
+| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_215HZ` | 1 |  |
+| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_157HZ` | 2 |  |
+| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_455HZ` | 3 |  |
+| `LSM6DXX_VAL_CTRL7_G_V_LPF1_EN` | BIT(0) |  |
+| `LSM6DXX_VAL_CTRL8_XL_V_FS_16G` | 3 |  |
+| `LSM6DXX_VAL_CTRL4_C_V_DRDY_PULSED` | BIT(1) |  |
 
 ---
 ## <a id="enum-lsm6dxxregister_e"></a>`lsm6dxxRegister_e`
@@ -3298,6 +3326,7 @@
 | `LSM6DXX_REG_OUTY_H_A` | 43 |  |
 | `LSM6DXX_REG_OUTZ_L_A` | 44 |  |
 | `LSM6DXX_REG_OUTZ_H_A` | 45 |  |
+| `LSM6DXX_REG_HAODR_CFG` | 98 |  |
 
 ---
 ## <a id="enum-ltm_frame_e"></a>`ltm_frame_e`
@@ -3541,7 +3570,8 @@
 | `MULTI_FUNC_3` | 3 |  |
 | `MULTI_FUNC_4` | 4 |  |
 | `MULTI_FUNC_5` | 5 |  |
-| `MULTI_FUNC_END` | 6 |  |
+| `MULTI_FUNC_6` | 6 |  |
+| `MULTI_FUNC_END` | 7 |  |
 
 ---
 ## <a id="enum-multifunctionflags_e"></a>`multiFunctionFlags_e`
@@ -4544,6 +4574,7 @@
 | `PITOT_FAKE` | 5 |  |
 | `PITOT_MSP` | 6 |  |
 | `PITOT_DLVR` | 7 |  |
+| `PITOT_MS5525` | 8 |  |
 
 ---
 ## <a id="enum-polltype_e"></a>`pollType_e`
@@ -4829,8 +4860,9 @@
 |---|---:|---|
 | `SD_3016` | 0 |  |
 | `HD_5018` | 1 |  |
-| `HD_6022` | 2 |  |
-| `HD_5320` | 3 |  |
+| `HD_3016` | 2 |  |
+| `HD_6022` | 3 |  |
+| `HD_5320` | 4 |  |
 
 ---
 ## <a id="enum-resourceowner_e"></a>`resourceOwner_e`
@@ -5079,7 +5111,7 @@
 ---
 ## <a id="enum-sdcardreceiveblockstatus_e"></a>`sdcardReceiveBlockStatus_e`
 
-> Source: ../../../src/main/drivers/sdcard/sdcard_sdio.c
+> Source: ../../../src/main/drivers/sdcard/sdcard_spi.c
 
 | Enumerator | Value | Condition |
 |---|---:|---|
@@ -5090,7 +5122,7 @@
 ---
 ## <a id="enum-sdcardreceiveblockstatus_e"></a>`sdcardReceiveBlockStatus_e`
 
-> Source: ../../../src/main/drivers/sdcard/sdcard_spi.c
+> Source: ../../../src/main/drivers/sdcard/sdcard_sdio.c
 
 | Enumerator | Value | Condition |
 |---|---:|---|
@@ -5421,6 +5453,11 @@
 | `HITL_EXTENDED_FLAGS` | (1 << 7) |  |
 | `HITL_GPS_TIMEOUT` | (1 << 8) |  |
 | `HITL_PITOT_FAILURE` | (1 << 9) |  |
+| `HITL_CURRENT_SENSOR` | (1 << 10) |  |
+| `HITL_SIM_RC_INPUT` | (1 << 11) |  |
+| `HITL_RANGEFINDER` | (1 << 12) |  |
+| `HITL_FAILSAFE_TRIGGERED` | (1 << 13) |  |
+| `HITL_SITL_MODE` | (1 << 14) |  |
 
 ---
 ## <a id="enum-smartaudioversion_e"></a>`smartAudioVersion_e`
@@ -5636,7 +5673,7 @@
 ---
 ## <a id="enum-systemstate_e"></a>`systemState_e`
 
-> Source: ../../../src/main/fc/fc_init.c
+> Source: ../../../src/main/fc/fc_init.h
 
 | Enumerator | Value | Condition |
 |---|---:|---|
@@ -5650,7 +5687,7 @@
 ---
 ## <a id="enum-systemstate_e"></a>`systemState_e`
 
-> Source: ../../../src/main/fc/fc_init.h
+> Source: ../../../src/main/fc/fc_init.c
 
 | Enumerator | Value | Condition |
 |---|---:|---|
@@ -5671,6 +5708,7 @@
 | `TCH_DMA_IDLE` | 0 |  |
 | `TCH_DMA_READY` | 1 |  |
 | `TCH_DMA_ACTIVE` | 2 |  |
+| `TCH_DMA_CIRCULAR` | 3 |  |
 
 ---
 ## <a id="enum-tempsensortype_e"></a>`tempSensorType_e`
diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c
index 6b674a300ec..50e8cf3f5a6 100644
--- a/src/main/io/displayport_msp_osd.c
+++ b/src/main/io/displayport_msp_osd.c
@@ -61,11 +61,15 @@
 
 #define FONT_VERSION 3
 
+// Values are wire-protocol constants sent as a raw byte over MSP DisplayPort
+// (MSP_DP_OPTIONS) and must stay fixed — third-party OSD firmware (e.g.
+// WTFOS) hardcodes these ordinals, so don't let enum edits renumber them.
 typedef enum {          // defines are from hdzero code
-    SD_3016,
-    HD_5018,
-    HD_6022,           // added to support DJI wtfos 60x22 grid
-    HD_5320            // added to support Avatar and BetaflightHD
+    SD_3016 = 0,
+    HD_5018 = 1,
+    HD_3016 = 2,       // unused by INAV; reserved to hold hdzero's canonical ordinal 2
+    HD_6022 = 3,       // DJI wtfos 60x22 grid
+    HD_5320 = 4        // Avatar and BetaflightHD
 } resolutionType_e;
 
 #define DRAW_FREQ_DENOM 4 // 60Hz