diff --git a/src/drivers/boards/auav-x21/auav_init.c b/src/drivers/boards/auav-x21/auav_init.c
index 885f169d8e..299ed4687a 100644
--- a/src/drivers/boards/auav-x21/auav_init.c
+++ b/src/drivers/boards/auav-x21/auav_init.c
@@ -422,7 +422,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	SPI_SETFREQUENCY(spi1, 10000000);
 	SPI_SETBITS(spi1, 8);
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
-	SPI_SELECT(spi1, PX4_SPIDEV_ICM, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_ICM_20608, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
 	up_udelay(20);
diff --git a/src/drivers/boards/auav-x21/auav_spi.c b/src/drivers/boards/auav-x21/auav_spi.c
index f8c02bdf9c..3c2fe711c0 100644
--- a/src/drivers/boards/auav-x21/auav_spi.c
+++ b/src/drivers/boards/auav-x21/auav_spi.c
@@ -74,12 +74,12 @@ __EXPORT void stm32_spiinitialize(void)
 {
 #ifdef CONFIG_STM32_SPI1
 
-	px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
+	px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
 	px4_arch_configgpio(GPIO_SPI_CS_BARO);
 	px4_arch_configgpio(GPIO_SPI_CS_MPU);
 
 	px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
-	px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY);
+	px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
 #endif
 
 #ifdef CONFIG_STM32_SPI2
@@ -94,23 +94,27 @@ __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_ICM_20608_G, !selected);
+		/* intended fallthrough */
+	case PX4_SPIDEV_ICM_20602:
+
+			/* intended fallthrough */
+		case PX4_SPIDEV_ICM_20608:
+				/* Making sure the other peripherals are not selected */
+				px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G, 1);
+		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, !selected);
 		break;
@@ -144,11 +148,11 @@ __EXPORT uint8_t stm32_spi2status(FAR struct spi_dev_s *dev, enum spi_dev_e devi
 __EXPORT void board_spi_reset(int ms)
 {
 	/* disable SPI bus */
-	px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G_OFF);
+	px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X_OFF);
 	px4_arch_configgpio(GPIO_SPI_CS_BARO_OFF);
 	px4_arch_configgpio(GPIO_SPI_CS_MPU_OFF);
 
-	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_20608_G_OFF, 0);
+	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X_OFF, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_BARO_OFF, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_MPU_OFF, 0);
 
@@ -160,10 +164,10 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_gpiowrite(GPIO_SPI1_MISO_OFF, 0);
 	px4_arch_gpiowrite(GPIO_SPI1_MOSI_OFF, 0);
 
-	px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY_OFF);
+	px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY_OFF);
 	px4_arch_configgpio(GPIO_EXTI_MPU_DRDY_OFF);
 
-	px4_arch_gpiowrite(GPIO_EXTI_ICM_20608_G_DRDY_OFF, 0);
+	px4_arch_gpiowrite(GPIO_EXTI_ICM_2060X_DRDY_OFF, 0);
 	px4_arch_gpiowrite(GPIO_EXTI_MPU_DRDY_OFF, 0);
 
 	/* set the sensor rail off */
@@ -184,7 +188,7 @@ __EXPORT void board_spi_reset(int ms)
 
 	/* reconfigure the SPI pins */
 #ifdef CONFIG_STM32_SPI1
-	px4_arch_configgpio(GPIO_SPI_CS_ICM_20608_G);
+	px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
 	px4_arch_configgpio(GPIO_SPI_CS_BARO);
 	px4_arch_configgpio(GPIO_SPI_CS_MPU);
 
@@ -194,7 +198,7 @@ __EXPORT void board_spi_reset(int ms)
 
 	// // XXX bring up the EXTI pins again
 	// px4_arch_configgpio(GPIO_EXTI_MPU_DRDY);
-	// px4_arch_configgpio(GPIO_EXTI_ICM_20608_G_DRDY);
+	// px4_arch_configgpio(GPIO_EXTI_ICM_2060X_DRDY);
 
 #endif
 }
diff --git a/src/drivers/boards/auav-x21/board_config.h b/src/drivers/boards/auav-x21/board_config.h
index b10fd7ff8d..6bc392043f 100644
--- a/src/drivers/boards/auav-x21/board_config.h
+++ b/src/drivers/boards/auav-x21/board_config.h
@@ -75,11 +75,11 @@
 
 /* Data ready pins but on board */
 
-#define GPIO_EXTI_ICM_20608_G_DRDY      (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_EXTI_ICM_2060X_DRDY      (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
 
 /* Data ready pins off */
 #define GPIO_EXTI_MPU_DRDY_OFF          (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
-#define GPIO_EXTI_ICM_20608_G_DRDY_OFF  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
+#define GPIO_EXTI_ICM_2060X_DRDY_OFF  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_EXTI|GPIO_PORTC|GPIO_PIN14)
 
 /* SPI1 off */
 #define GPIO_SPI1_SCK_OFF   (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN5)
@@ -87,12 +87,12 @@
 #define GPIO_SPI1_MOSI_OFF  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTA|GPIO_PIN7)
 
 /* SPI1 chip selects off */
-#define GPIO_SPI_CS_ICM_20608_G_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_SPI_CS_ICM_2060X_OFF (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_BARO_OFF        (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_MPU_OFF		    (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz|GPIO_PORTC|GPIO_PIN2)
 
 /* SPI chip selects */
-#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_ICM_2060X	 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
 #define GPIO_SPI_CS_BARO         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
 #define GPIO_SPI_CS_FRAM         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 #define GPIO_SPI_CS_MPU          (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
@@ -102,9 +102,10 @@
 #define PX4_SPI_BUS_BARO	PX4_SPI_BUS_SENSORS
 
 /* Use these in place of the spi_dev_e enumeration to select a specific SPI device on SPI1 */
-#define PX4_SPIDEV_ICM       1
-#define PX4_SPIDEV_BARO      2
-#define PX4_SPIDEV_MPU       3
+#define PX4_SPIDEV_ICM_20602 1
+#define PX4_SPIDEV_ICM_20608 2
+#define PX4_SPIDEV_BARO      3
+#define PX4_SPIDEV_MPU       4
 
 /* I2C busses */