diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index af3195e7f1..82f6c7a889 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -216,6 +216,21 @@ then
 	if bmi160 start
 	then
 	fi
+
+	# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
+	# chip select pin. There are different boards with either one of them and the WHO_AM_I register
+	# will prevent the incorrect driver from a successful initialization.
+
+	# Internal SPI bus BMI055_ACC
+	if bmi055 -A start
+	then
+	fi
+	
+	# Internal SPI bus BMI055_GYR
+	if bmi055 -G start
+	then
+	fi
+	
 fi
 
 if ver hwcmp PX4FMU_V1
diff --git a/src/platforms/px4_spi.h b/src/platforms/px4_spi.h
index 049f2154a5..6936ccfd28 100644
--- a/src/platforms/px4_spi.h
+++ b/src/platforms/px4_spi.h
@@ -15,8 +15,7 @@ enum spi_dev_e {
 	SPIDEV_EXPANDER,    /* Select SPI I/O expander device */
 	SPIDEV_MUX,         /* Select SPI multiplexer device */
 	SPIDEV_AUDIO_DATA,  /* Select SPI audio codec device data port */
-	SPIDEV_AUDIO_CTRL,  /* Select SPI audio codec device control port */
-	SPIDEV_BMI055_GYR /* Select SPI BMI055 Gyroscope */
+	SPIDEV_AUDIO_CTRL  /* Select SPI audio codec device control port */
 };
 
 /* Certain SPI devices may required different clocking modes */