diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index ce8b53a942..d9e8d75d22 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -63,18 +63,8 @@ fi
 
 if ver hwcmp AUAV_X21
 then
-	# I2C bus
-	if hmc5883 -C -T start
-	then
-	fi
-
-	# I2C bus
-	if lis3mdl start
-	then
-	fi
-
-	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	if mpu6000 -R 2 -T 20602 start
+	# External I2C bus
+	if hmc5883 -C -T -X start
 	then
 	fi