diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 21276b4684..27e5fb4ee8 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -74,7 +74,13 @@ then
 	then
 		set BOARD_FMUV3 true
 	else
-		set BOARD_FMUV3 false
+		# Check for Pixhawk 2 board
+		if mpu9250 -S -R 4 start
+		then
+			set BOARD_FMUV3 true
+		else
+			set BOARD_FMUV3 false
+		fi
 	fi
 
 	if [ $BOARD_FMUV3 == true ]
@@ -92,6 +98,10 @@ then
 		# internal MPU6000 is rotated 180 deg roll, 270 deg yaw
 		if mpu6000 -R 14 start
 		then
+		else
+			if mpu9250 -R 14 start
+			then
+			fi
 		fi
 
 		if hmc5883 -C -T -S -R 8 start