diff --git a/boards/px4/fmu-v6c/default.px4board b/boards/px4/fmu-v6c/default.px4board
index 94957c2692..148e6326fb 100644
--- a/boards/px4/fmu-v6c/default.px4board
+++ b/boards/px4/fmu-v6c/default.px4board
@@ -16,6 +16,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
diff --git a/boards/px4/fmu-v6c/init/rc.board_sensors b/boards/px4/fmu-v6c/init/rc.board_sensors
index f7ee065c06..634afade5f 100644
--- a/boards/px4/fmu-v6c/init/rc.board_sensors
+++ b/boards/px4/fmu-v6c/init/rc.board_sensors
@@ -4,9 +4,16 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-# Internal SPI bus BMI055 accel/gyro
-bmi055 -A -R 4 -s start
-bmi055 -G -R 4 -s start
+if ver hwtypecmp V6C000002 V6C002002
+then
+       # Internal SPI BMI088 accel/gyro
+       bmi088 -A -R 4 -s start
+       bmi088 -G -R 4 -s start
+else
+       # Internal SPI bus BMI055 accel/gyro
+       bmi055 -A -R 4 -s start
+       bmi055 -G -R 4 -s start
+fi
 
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start
diff --git a/boards/px4/fmu-v6c/src/board_config.h b/boards/px4/fmu-v6c/src/board_config.h
index 8d06af6dd1..87806d3ed7 100644
--- a/boards/px4/fmu-v6c/src/board_config.h
+++ b/boards/px4/fmu-v6c/src/board_config.h
@@ -141,14 +141,15 @@
 #define GPIO_HW_VER_SENSE      /* PC1 */  GPIO_ADC123_INP11
 #define HW_INFO_INIT_PREFIX    "V6C"
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 10 and Mini Sensor sets
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 5 // Rev 0, 10 and Mini Sensor sets
 //                 Base/FMUM
 #define V6C00   HW_VER_REV(0x0,0x0) // FMUV6C,                 Rev 0  I2C4 External but with Internal devices
 #define V6C01   HW_VER_REV(0x0,0x1) // FMUV6C,                 Rev 1  I2C4 Internal I2C2 External
+#define V6C02   HW_VER_REV(0x0,0x2) // FMUV6C,                 Rev 2  I2C4 Internal I2C2 External,BMI088+ICM-42688P
 #define V6C10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0  I2C4 External but with Internal devices
 #define V6C11   HW_VER_REV(0x1,0x1) // NO PX4IO,               Rev 1  I2C4 Internal I2C2 External
 #define V6C21   HW_VER_REV(0x2,0x1) // FMUV6CMini,             Rev 1  I2C4 Internal I2C2 External
-
+#define V6C22   HW_VER_REV(0x2,0x2) // FMUV6CMini,             Rev 2  I2C4 Internal I2C2 External,BMI088+ICM-42688P
 
 /* HEATER
  * PWM in future
diff --git a/boards/px4/fmu-v6c/src/manifest.c b/boards/px4/fmu-v6c/src/manifest.c
index 4a0401bca3..8cc048f49f 100644
--- a/boards/px4/fmu-v6c/src/manifest.c
+++ b/boards/px4/fmu-v6c/src/manifest.c
@@ -104,9 +104,11 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
 	{V6C00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 0
 	{V6C01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1
+	{V6C02, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 2
 	{V6C10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 0 No PX4IO
 	{V6C11, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // Rev 1 No PX4IO
 	{V6C21, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 1 MINI
+	{V6C22, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // Rev 2 MINI
 };
 
 /************************************************************************************
diff --git a/boards/px4/fmu-v6c/src/spi.cpp b/boards/px4/fmu-v6c/src/spi.cpp
index 1cf3ecee82..4f51807057 100644
--- a/boards/px4/fmu-v6c/src/spi.cpp
+++ b/boards/px4/fmu-v6c/src/spi.cpp
@@ -56,6 +56,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
 		}),
 	}),
+	initSPIHWVersion(V6C02, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088,  SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088,  SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}),
+		}, {GPIO::PortB, GPIO::Pin2}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
+		}),
+	}),
 	initSPIHWVersion(V6C21, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_GYR_DEVTYPE_BMI055,  SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
@@ -66,6 +76,16 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
 		}),
 	}),
+	initSPIHWVersion(V6C22, {
+		initSPIBus(SPI::Bus::SPI1, {
+			initSPIDevice(DRV_GYR_DEVTYPE_BMI088,  SPI::CS{GPIO::PortC, GPIO::Pin14}, SPI::DRDY{GPIO::PortE, GPIO::Pin5}),
+			initSPIDevice(DRV_ACC_DEVTYPE_BMI088,  SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
+			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}, SPI::DRDY{GPIO::PortE, GPIO::Pin6}),
+		}, {GPIO::PortB, GPIO::Pin2}),
+		initSPIBus(SPI::Bus::SPI2, {
+			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4})
+		}),
+	}),
 };
 
 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);