diff --git a/boards/px4/fmu-v6x/default.px4board b/boards/px4/fmu-v6x/default.px4board
index e1e3555ade..2e1a08f9ac 100644
--- a/boards/px4/fmu-v6x/default.px4board
+++ b/boards/px4/fmu-v6x/default.px4board
@@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -23,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors
index 35db06ad1d..da97c0351e 100644
--- a/boards/px4/fmu-v6x/init/rc.board_sensors
+++ b/boards/px4/fmu-v6x/init/rc.board_sensors
@@ -70,19 +70,34 @@ else
 fi
 
 # Internal magnetometer on I2c
-bmm150 -I start
+if ver hwtypecmp V6X21
+then
+	rm3100 -I -b 4 start
+else
+	bmm150 -I start
+fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
 
 # Possible internal Baro
-bmp388 -I -a 0x77 start
+if ver hwtypecmp V6X21
+then
+	icp201xx -I -a 0x64 start
+else
+	bmp388 -I -a 0x77 start
+fi
 
 if ver hwtypecmp V6X000000 V6X001000
 then
 	bmp388 -I start
 else
-	bmp388 -X start
+	if ver hwtypecmp V6X21
+	then
+		icp201xx -X start
+	else
+		bmp388 -X start
+	fi
 fi
 
 # Baro on I2C3
diff --git a/boards/px4/fmu-v6x/src/board_config.h b/boards/px4/fmu-v6x/src/board_config.h
index d057e703e5..1417b16dbf 100644
--- a/boards/px4/fmu-v6x/src/board_config.h
+++ b/boards/px4/fmu-v6x/src/board_config.h
@@ -129,6 +129,8 @@
 
 /* I2C busses */
 
+#define BOARD_MTD_NUM_EEPROM        2 /* MTD: base_eeprom, imu_eeprom*/
+
 /* Devices on the onboard buses.
  *
  * Note that these are unshifted addresses.
@@ -213,7 +215,8 @@
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
 #define HW_INFO_INIT_PREFIX    "V6X"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 8 // Rev 0 and Rev 3,4 Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 9 // Rev 0 and Rev 3,4 Sensor sets
+
 //                 Base/FMUM
 #define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
 #define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
@@ -222,6 +225,7 @@
 #define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
 #define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
 #define V6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
+#define V6X21   HW_VER_REV(0x2,0x1) // FMUV6X,     CUAV Sensor Set
 #define V6X40   HW_VER_REV(0x4,0x0) // FMUV6X,                    HB CM4 base Rev 0
 #define V6X41   HW_VER_REV(0x4,0x1) // FMUV6X,     BMI388 I2C2    HB CM4 base Rev 1
 #define V6X43   HW_VER_REV(0x4,0x3) // FMUV6X,     Sensor Set     HB CM4 base Rev 3
diff --git a/boards/px4/fmu-v6x/src/manifest.c b/boards/px4/fmu-v6x/src/manifest.c
index 756a66b806..47fb5df219 100644
--- a/boards/px4/fmu-v6x/src/manifest.c
+++ b/boards/px4/fmu-v6x/src/manifest.c
@@ -154,6 +154,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
 	{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
 	{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
+	{V6X21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
 };
 
 /************************************************************************************
diff --git a/boards/px4/fmu-v6x/src/spi.cpp b/boards/px4/fmu-v6x/src/spi.cpp
index e9be2a4020..a0a14877fc 100644
--- a/boards/px4/fmu-v6x/src/spi.cpp
+++ b/boards/px4/fmu-v6x/src/spi.cpp
@@ -84,6 +84,30 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),
 
+	initSPIHWVersion(V6X21, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+		}, {GPIO::PortI, GPIO::Pin11}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+		}, {GPIO::PortF, GPIO::Pin4}),
+		initSPIBus(SPI::Bus::SPI3, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin8}, SPI::DRDY{GPIO::PortI, GPIO::Pin7}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortI, GPIO::Pin4}),
+		}, {GPIO::PortE, GPIO::Pin7}),
+		//  initSPIBus(SPI::Bus::SPI4, {
+		//    // no devices
+		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
+		//  }, {GPIO::PortG, GPIO::Pin8}),
+		initSPIBus(SPI::Bus::SPI5, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
+		}),
+		initSPIBusExternal(SPI::Bus::SPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
+			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
+		}),
+	}),
+
 	initSPIHWVersion(V6X43, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM42670P, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),