diff --git a/boards/px4/fmu-v6xrt/init/rc.board_sensors b/boards/px4/fmu-v6xrt/init/rc.board_sensors
index d113e549d3..0133d2c602 100644
--- a/boards/px4/fmu-v6xrt/init/rc.board_sensors
+++ b/boards/px4/fmu-v6xrt/init/rc.board_sensors
@@ -61,8 +61,8 @@ then
 	fi
 fi
 
-# Internal SPI bus ICM42688p (hard-mounted)
-icm42688p -R 12 -b 1 -s start
+# Internal SPI bus ICM42686p (hard-mounted)
+icm42688p -6 -R 12 -b 1 -s start
 
 # Internal on IMU SPI BMI088
 bmi088 -A -R 4 -s start
diff --git a/boards/px4/fmu-v6xrt/src/spi.cpp b/boards/px4/fmu-v6xrt/src/spi.cpp
index da6715abb1..16c3e2822d 100644
--- a/boards/px4/fmu-v6xrt/src/spi.cpp
+++ b/boards/px4/fmu-v6xrt/src/spi.cpp
@@ -65,7 +65,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::LPSPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
 	}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01
 
 	initSPIBus(SPI::Bus::LPSPI2, {
diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
index 8619d87c89..382bd74fb3 100644
--- a/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
@@ -126,8 +126,9 @@ int ICM42688P::probe()
 {
 	for (int i = 0; i < 3; i++) {
 		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
+		uint8_t expected_whoami = isICM686 ? WHOAMI686 : WHOAMI;
 
-		if (whoami == WHOAMI || (isICM686 && whoami == WHOAMI686)) {
+		if (whoami == expected_whoami) {
 			return PX4_OK;
 
 		} else {