diff --git a/src/drivers/imu/mpu6000/mpu6000_main.cpp b/src/drivers/imu/mpu6000/mpu6000_main.cpp
index 43106953e1..bca90c3a46 100644
--- a/src/drivers/imu/mpu6000/mpu6000_main.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000_main.cpp
@@ -72,9 +72,12 @@ struct mpu6000_bus_option {
 #if defined(PX4_SPI_BUS_EXT)
 	{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT,  true, NULL },
 #endif
-#ifdef PX4_SPIDEV_ICM_20602
+#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS)
 	{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, ICM20602_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS,  false, NULL },
 #endif
+#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS1)
+	{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, ICM20602_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS1,  false, NULL },
+#endif
 #ifdef PX4_SPIDEV_ICM_20608
 	{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20608, ICM20608_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS,  false, NULL },
 #endif