diff --git a/boards/diatone/mamba-f405-mk2/default.px4board b/boards/diatone/mamba-f405-mk2/default.px4board
index efb1faeb49..3c7bf40a1a 100644
--- a/boards/diatone/mamba-f405-mk2/default.px4board
+++ b/boards/diatone/mamba-f405-mk2/default.px4board
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
diff --git a/boards/diatone/mamba-f405-mk2/init/rc.board_sensors b/boards/diatone/mamba-f405-mk2/init/rc.board_sensors
index 2ce4db663a..2bd3d7148d 100644
--- a/boards/diatone/mamba-f405-mk2/init/rc.board_sensors
+++ b/boards/diatone/mamba-f405-mk2/init/rc.board_sensors
@@ -5,14 +5,16 @@
 
 board_adc start
 
-if ! mpu6000 -R 6 -s start
-then
+if ! mpu6000 -R 6 -s start; then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	icm20602 -s -R 6 start
+	if ! icm20602 -s -R 6 start; then
+		# The ICM-42688-P is used on the Diatone Mamba F405 MK2 v2
+		icm42688p -s -R 4 start
+	fi
 fi
 
 if ! hmc5883 -T -X start
-then	
+then
 	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
 		sleep 1 # wait for mpu9250 to be configured with bypass enabled
 		ak8963 -X -b 2 -R 30 start # -R 34
diff --git a/boards/diatone/mamba-f405-mk2/src/spi.cpp b/boards/diatone/mamba-f405-mk2/src/spi.cpp
index f744b7fd69..a340163473 100644
--- a/boards/diatone/mamba-f405-mk2/src/spi.cpp
+++ b/boards/diatone/mamba-f405-mk2/src/spi.cpp
@@ -39,6 +39,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),