diff --git a/boards/default_src/micropython/generators/sensor_onboard.js b/boards/default_src/micropython/generators/sensor_onboard.js
index c3c13e93..6a7d6182 100644
--- a/boards/default_src/micropython/generators/sensor_onboard.js
+++ b/boards/default_src/micropython/generators/sensor_onboard.js
@@ -845,9 +845,15 @@ export const sensor_mixbot_temperature = function (_, generator) {
 }
 
 export const sensor_mixbot_get_gyro = function (_, generator) {
+    var version = Boards.getSelectedBoardKey().split(':')[2];
     var key = this.getFieldValue('key');
-    generator.definitions_['import_mixbot_acc_gyr'] = "from mixbot import acc_gyr";
-    var code = 'acc_gyr.gyroscope()' + key;
+    if(version == 'mixgo_soar'){
+        generator.definitions_['import_' + version + '_onboard_imu'] = "from " + version + " import onboard_imu";
+        var code = 'onboard_imu.gyroscope()' +key ;
+    }else{
+        generator.definitions_['import_mixbot_acc_gyr'] = "from mixbot import acc_gyr";
+        var code = 'acc_gyr.gyroscope()' + key;
+    }
     return [code, generator.ORDER_ATOMIC];
 }
 
diff --git a/boards/default_src/micropython_esp32s3/template.xml b/boards/default_src/micropython_esp32s3/template.xml
index 9f51b8ff..2a92d149 100644
--- a/boards/default_src/micropython_esp32s3/template.xml
+++ b/boards/default_src/micropython_esp32s3/template.xml
@@ -1441,21 +1441,22 @@
     <block type="sensor_sound"></block>
     <block type="sensor_hp203" m-show='micropython:esp32s3:mixgo_soar'></block>
     <block type="sensor_aht11" m-hide='micropython:esp32s3:mixgo_soar'></block>
-    <block type="sensor_get_acceleration"></block>
+    <block type="sensor_get_acceleration" m-hide='micropython:esp32s3:mixgo_soar'></block>
+    <block type="sensor_mixbot_get_gyro" m-show='micropython:esp32s3:mixgo_soar'></block>
     <block type="sensor_mixgo_cc_mmc5603_calibrate_compass" m-hide='micropython:esp32s3:mixgo_soar'></block>
     <block type="sensor_mixgo_cc_mmc5603_get_magnetic" m-hide='micropython:esp32s3:mixgo_soar'></block>
     <block type="sensor_mixgo_cc_mmc5603_get_angle" m-hide='micropython:esp32s3:mixgo_soar'></block>
 
-    <block type="rfid_status" m-hide='micropython:esp32s3:mixgo_sant'></block>
-    <block type="rfid_readid" m-hide='micropython:esp32s3:mixgo_sant'></block>
-    <block type="rfid_readcontent" m-hide='micropython:esp32s3:mixgo_sant'>
+    <block type="rfid_status" m-hide='micropython:esp32s3:mixgo_sant micropython:esp32s3:mixgo_soar'></block>
+    <block type="rfid_readid" m-hide='micropython:esp32s3:mixgo_sant micropython:esp32s3:mixgo_soar'></block>
+    <block type="rfid_readcontent" m-hide='micropython:esp32s3:mixgo_sant micropython:esp32s3:mixgo_soar'>
       <value name="SECTOR">
         <shadow type="math_number">
           <field name="NUM">0</field>
         </shadow>
       </value>
     </block>
-    <block type="rfid_write" m-hide='micropython:esp32s3:mixgo_sant'>
+    <block type="rfid_write" m-hide='micropython:esp32s3:mixgo_sant micropython:esp32s3:mixgo_soar'>
       <value name="SECTOR">
         <shadow type="math_number">
           <field name="NUM">0</field>
@@ -1467,7 +1468,7 @@
         </shadow>
       </value>
     </block>
-    <block type="rfid_write_return" m-hide='micropython:esp32s3:mixgo_sant'>
+    <block type="rfid_write_return" m-hide='micropython:esp32s3:mixgo_sant micropython:esp32s3:mixgo_soar'>
       <value name="SECTOR">
         <shadow type="math_number">
           <field name="NUM">0</field>