diff --git a/boards/px4/fmu-v6xrt/init/rc.board_sensors b/boards/px4/fmu-v6xrt/init/rc.board_sensors
index 1f57640a44..ae60e13536 100644
--- a/boards/px4/fmu-v6xrt/init/rc.board_sensors
+++ b/boards/px4/fmu-v6xrt/init/rc.board_sensors
@@ -85,19 +85,43 @@ else
 	fi
 fi
 
-# Internal SPI bus ICM42686p (hard-mounted)
-icm42688p -6 -R 12 -b 1 -s start
+if ver hwtypecmp V6XRT000 V6XRT001
+then
+	# Internal SPI bus ICM42686p (hard-mounted)
+	icm42688p -6 -R 12 -b 1 -s start
 
-# Internal on IMU SPI BMI088
-bmi088 -A -R 4 -s start
-bmi088 -G -R 4 -s start
+	# Internal on IMU SPI BMI088
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
 
-# Internal on IMU SPI bus ICM42688p
-icm42688p -R 6 -b 2 -s start
+	# Internal on IMU SPI bus ICM42688p
+	icm42688p -R 6 -b 2 -s start
+fi
 
-# Internal magnetometer on I2c
-bmm150 -I start
+if ver hwtypecmp V6XRT002
+then
+	# Internal SPI bus icm45686 (hard-mounted)
+	icm45686 -R 12 -b 1 -s start
 
+	# Internal on IMU SPI BMI088
+	bmi088 -A -R 4 -s start
+	bmi088 -G -R 4 -s start
+
+	# Internal on IMU SPI bus icm45686
+	icm45686 -R 6 -b 2 -s start
+fi
+
+if ver hwtypecmp V6XRT000
+then
+	# Internal magnetometer on I2c
+	bmm150 -I start
+fi
+
+if ver hwtypecmp V6XRT001 V6XRT002
+then
+	# Internal magnetometer on I2c
+	bmm350 -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
diff --git a/boards/px4/fmu-v6xrt/src/board_config.h b/boards/px4/fmu-v6xrt/src/board_config.h
index 75f6dba54d..85221803a8 100644
--- a/boards/px4/fmu-v6xrt/src/board_config.h
+++ b/boards/px4/fmu-v6xrt/src/board_config.h
@@ -297,9 +297,10 @@
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_23 GPIO9 Pin 22 */  ADC_GPIO(5, 22)
 #define HW_INFO_INIT_PREFIX   "V6XRT"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 & 1
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 1 & 2
 #define V6XRT_0             HW_FMUM_ID(0x0)  // First Release
 #define V6XRT_1             HW_FMUM_ID(0x1)  // Next Release
+#define V6XRT_2             HW_FMUM_ID(0x2)  // Next Release
 
 #define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */
 
diff --git a/boards/px4/fmu-v6xrt/src/spi.cpp b/boards/px4/fmu-v6xrt/src/spi.cpp
index d7e05735cd..01abdfb8c9 100644
--- a/boards/px4/fmu-v6xrt/src/spi.cpp
+++ b/boards/px4/fmu-v6xrt/src/spi.cpp
@@ -81,6 +81,26 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
 		}),
 	}),
+
+	initSPIFmumID(V6XRT_2, {
+		initSPIBus(SPI::Bus::LPSPI1, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
+		}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01
+
+		initSPIBus(SPI::Bus::LPSPI2, {
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
+		}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22  GPIO1_IO22
+
+		initSPIBus(SPI::Bus::LPSPI3, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}),                                      /* GPIO_EMC_B2_05 GPIO2_IO15 */
+		}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14  GPIO1_IO14
+
+		initSPIBusExternal(SPI::Bus::LPSPI6, {
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
+			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
+		}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);