diff --git a/cmake/configs/nuttx_asc-v1_default.cmake b/cmake/configs/nuttx_asc-v1_default.cmake
index f72061703c..ecab2200bd 100644
--- a/cmake/configs/nuttx_asc-v1_default.cmake
+++ b/cmake/configs/nuttx_asc-v1_default.cmake
@@ -14,7 +14,7 @@ set(config_module_list
 	drivers/boards/asc-v1
 	drivers/rgbled_pwm
 	drivers/tap_esc
-	#drivers/mpu6500
+	drivers/mpu6500
 	drivers/ms5611
 	drivers/hmc5883
 	drivers/gps
diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h
index fac3dc0eff..5ed925f866 100644
--- a/src/drivers/drv_sensor.h
+++ b/src/drivers/drv_sensor.h
@@ -71,14 +71,10 @@
 #define DRV_GYR_DEVTYPE_BMI160   0x25
 #define DRV_RNG_DEVTYPE_MB12XX   0x31
 #define DRV_RNG_DEVTYPE_LL40LS   0x32
-
-#if defined (CONFIG_ARCH_BOARD_MINDPX_V2) || defined (CONFIG_ARCH_BOARD_TAP_V1)
-#define DRV_ACC_DEVTYPE_MPU6050 0x14
-#define DRV_ACC_DEVTYPE_MPU6500 0x13
-
-#define DRV_GYR_DEVTYPE_MPU6050 0x20
-#define DRV_GYR_DEVTYPE_MPU6500 0x21
-#endif
+#define DRV_ACC_DEVTYPE_MPU6050  0x33
+#define DRV_ACC_DEVTYPE_MPU6500  0x34
+#define DRV_GYR_DEVTYPE_MPU6050  0x35
+#define DRV_GYR_DEVTYPE_MPU6500  0x36
 
 
 /*