diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 7b8f20839d..f11e61036a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -84,8 +84,8 @@ else
 		then
 		fi
 
-		# Internal SPI bus try MPU6K on ICM-20608-G is rotated 180 deg roll, 270 deg yaw
-		if mpu6000 -R 14 start
+		# Internal SPI bus ICM-20608-G is rotated 180 deg roll, 270 deg yaw
+		if mpu6000 -R 14 -T 20608 start
 		then
 		fi
 	else
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index cc1db95eef..0b873ccb98 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -14,6 +14,7 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/boards/px4fmu-v4
 	drivers/rgbled
+	drivers/mpu6000
 	drivers/mpu9250
 	drivers/hmc5883
 	drivers/ms5611
diff --git a/src/drivers/boards/px4fmu-v4/board_config.h b/src/drivers/boards/px4fmu-v4/board_config.h
index d2cea93b87..1fa6f0f2d6 100644
--- a/src/drivers/boards/px4fmu-v4/board_config.h
+++ b/src/drivers/boards/px4fmu-v4/board_config.h
@@ -127,6 +127,7 @@ __BEGIN_DECLS
 #define PX4_SPIDEV_BARO			3
 #define PX4_SPIDEV_MPU			4
 #define PX4_SPIDEV_HMC			5
+#define PX4_SPIDEV_ICM			6
 
 /* I2C busses */
 #define PX4_I2C_BUS_EXPANSION	1
diff --git a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
index e0c92c1448..bdfa47f62c 100644
--- a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
@@ -101,7 +101,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	/* SPI select is active low, so write !selected to select the device */
 
 	switch (devid) {
-	case PX4_SPIDEV_GYRO:
+	case PX4_SPIDEV_ICM:
 		/* Making sure the other peripherals are not selected */
 		stm32_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		stm32_gpiowrite(GPIO_SPI_CS_HMC5983, 1);