diff --git a/board/pyro/board.c b/board/pyro/board.c
index 54cf7f0554..8ad3dc67af 100644
--- a/board/pyro/board.c
+++ b/board/pyro/board.c
@@ -721,11 +721,42 @@ struct kionix_accel_data g_kx022_data;
 
 /* FIXME(dhendrix): Copied from Amenia, probably need to tweak for Pyro */
 struct motion_sensor_t motion_sensors[] = {
-	/*
-	 * Note: bmi160: supports accelerometer and gyro sensor
-	 * Requirement: accelerometer sensor must init before gyro sensor
-	 * DO NOT change the order of the following table.
-	 */
+	[LID_ACCEL] = {
+	.name = "Lid Accel",
+	.active_mask = SENSOR_ACTIVE_S0,
+	.chip = MOTIONSENSE_CHIP_KX022,
+	.type = MOTIONSENSE_TYPE_ACCEL,
+	.location = MOTIONSENSE_LOC_LID,
+	.drv = &kionix_accel_drv,
+	.mutex = &g_lid_mutex,
+	.drv_data = &g_kx022_data,
+	.port = I2C_PORT_LID_ACCEL,
+	.addr = KX022_ADDR1,
+	.rot_standard_ref = NULL, /* Identity matrix. */
+	.default_range = 2, /* g, enough for laptop. */
+	.config = {
+		/* AP: by default use EC settings */
+		[SENSOR_CONFIG_AP] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+		/* EC use accel for angle detection */
+		[SENSOR_CONFIG_EC_S0] = {
+			.odr = 10000 | ROUND_UP_FLAG,
+			.ec_rate = 100 * MSEC,
+		},
+		/* unused */
+		[SENSOR_CONFIG_EC_S3] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+		[SENSOR_CONFIG_EC_S5] = {
+			.odr = 0,
+			.ec_rate = 0,
+		},
+	},
+	},
+
 	[BASE_ACCEL] = {
 	 .name = "Base Accel",
 	 .active_mask = SENSOR_ACTIVE_S0,
@@ -837,42 +868,6 @@ struct motion_sensor_t motion_sensors[] = {
 	 },
 	},
 
-	[LID_ACCEL] = {
-	 .name = "Lid Accel",
-	 .active_mask = SENSOR_ACTIVE_S0,
-	 .chip = MOTIONSENSE_CHIP_KX022,
-	 .type = MOTIONSENSE_TYPE_ACCEL,
-	 .location = MOTIONSENSE_LOC_LID,
-	 .drv = &kionix_accel_drv,
-	 .mutex = &g_lid_mutex,
-	 .drv_data = &g_kx022_data,
-	 .port = I2C_PORT_LID_ACCEL,
-	 .addr = KX022_ADDR1,
-	 .rot_standard_ref = NULL, /* Identity matrix. */
-	 .default_range = 2, /* g, enough for laptop. */
-	 .config = {
-		/* AP: by default use EC settings */
-		[SENSOR_CONFIG_AP] = {
-			.odr = 0,
-			.ec_rate = 0,
-		},
-		/* EC use accel for angle detection */
-		[SENSOR_CONFIG_EC_S0] = {
-			.odr = 10000 | ROUND_UP_FLAG,
-			.ec_rate = 100 * MSEC,
-		},
-		/* unused */
-		[SENSOR_CONFIG_EC_S3] = {
-			.odr = 0,
-			.ec_rate = 0,
-		},
-		[SENSOR_CONFIG_EC_S5] = {
-			.odr = 0,
-			.ec_rate = 0,
-		},
-	 },
-	},
-
 	[BASE_BARO] = {
 	 .name = "Base Baro",
 	 .active_mask = SENSOR_ACTIVE_S0,
diff --git a/board/pyro/board.h b/board/pyro/board.h
index 043b990358..4908317a94 100644
--- a/board/pyro/board.h
+++ b/board/pyro/board.h
@@ -243,12 +243,17 @@ enum als_id {
 	ALS_COUNT
 };
 
-/* Motion sensors */
+/*
+ * Motion sensors:
+ * When reading through IO memory is set up for sensors (LPC is used),
+ * the first 2 entries must be accelerometers, then gyroscope.
+ * For BMI160, accel, gyro and compass sensors must be next to each other.
+ */
 enum sensor_id {
-	BASE_ACCEL = 0,
+	LID_ACCEL = 0,
+	BASE_ACCEL,
 	BASE_GYRO,
 	BASE_MAG,
-	LID_ACCEL,
 	BASE_BARO,
 };