px4fmu-v4 uses MPU6000 driver for ICM-20609-G

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

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);