diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 44e3948b78..7c165476fd 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -187,6 +187,11 @@ then
 	if mpu9250 -R 2 start
 	then
 	fi
+
+	# Internal SPI bus BMI160
+	if bmi160 start
+	then
+	fi
 fi
 
 if ver hwcmp PX4FMU_V1
diff --git a/src/drivers/boards/px4fmu-v4/board_config.h b/src/drivers/boards/px4fmu-v4/board_config.h
index e01538df88..8309cb264f 100644
--- a/src/drivers/boards/px4fmu-v4/board_config.h
+++ b/src/drivers/boards/px4fmu-v4/board_config.h
@@ -84,6 +84,7 @@
 #define GPIO_SPI_CS_LIS3MDL		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_SPI_CS_MS5611		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_ICM_20608_G (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_BMI160    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
 
 #define GPIO_SPI_CS_FRAM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 
@@ -106,6 +107,7 @@
 #define GPIO_SPI_CS_OFF_LIS3MDL		_PIN_OFF(GPIO_SPI_CS_LIS3MDL)
 #define GPIO_SPI_CS_OFF_MS5611		_PIN_OFF(GPIO_SPI_CS_MS5611)
 #define GPIO_SPI_CS_OFF_ICM_20608_G _PIN_OFF(GPIO_SPI_CS_ICM_20608_G)
+#define GPIO_SPI_CS_OFF_BMI160 _PIN_OFF(GPIO_SPI_CS_BMI160)
 
 #define GPIO_DRDY_OFF_MPU9250		_PIN_OFF(GPIO_DRDY_MPU9250)
 #define GPIO_DRDY_OFF_HMC5983		_PIN_OFF(GPIO_DRDY_HMC5983)
diff --git a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
index b1776bd953..5fedf8e0a5 100644
--- a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
@@ -76,6 +76,7 @@ __EXPORT void stm32_spiinitialize(void)
 	px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
 	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
+	px4_arch_configgpio(GPIO_SPI_CS_BMI160);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
@@ -85,6 +86,7 @@ __EXPORT void stm32_spiinitialize(void)
 	px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 	px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
 
 	px4_arch_configgpio(GPIO_DRDY_MPU9250);
 	px4_arch_configgpio(GPIO_DRDY_HMC5983);
@@ -105,6 +107,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	switch (devid) {
 	case PX4_SPIDEV_ICM:
 		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -117,6 +120,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
@@ -125,6 +129,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_HMC:
 		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -133,12 +138,22 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
 		break;
 
+	case PX4_SPIDEV_BMI:
+		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, !selected);
+		break;
+
 	default:
 		break;
 	}
@@ -187,11 +202,13 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_HMC5983);
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_20608_G);
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);
 
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_20608_G, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0);
 
 	px4_arch_configgpio(GPIO_SPI1_SCK_OFF);
 	px4_arch_configgpio(GPIO_SPI1_MISO_OFF);
@@ -231,6 +248,7 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
 	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
+	px4_arch_configgpio(GPIO_SPI_CS_BMI160);
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
@@ -240,6 +258,7 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 	px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+	px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
 
 	px4_arch_configgpio(GPIO_SPI1_SCK);
 	px4_arch_configgpio(GPIO_SPI1_MISO);