diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 8b5ce28dd9..98963d99b2 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -198,6 +198,11 @@ then
 	then
 	fi
 
+	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20602 start
+	then
+	fi
+
 	# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
 	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
 	# will prevent the incorrect driver from a successful initialization.