diff --git a/boards/ark/pi6x/default.px4board b/boards/ark/pi6x/default.px4board
index 98f6300f57..45f992d69e 100644
--- a/boards/ark/pi6x/default.px4board
+++ b/boards/ark/pi6x/default.px4board
@@ -15,6 +15,7 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
diff --git a/boards/ark/pi6x/init/rc.board_sensors b/boards/ark/pi6x/init/rc.board_sensors
index 647e685c7f..cc97b1d601 100644
--- a/boards/ark/pi6x/init/rc.board_sensors
+++ b/boards/ark/pi6x/init/rc.board_sensors
@@ -21,8 +21,10 @@ then
 fi
 
 # Internal magnetometer on I2C
-# TODO: Write a driver for the MMC5983MA
-mmc5983ma -I -b 4 start
+if ! iis2mdc -R 4 -I -b 4 start
+then
+	mmc5983ma -I -b 4 start
+fi
 
 # Internal Baro on I2C
 bmp388 -I -b 4 start