diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 208175a3d4..66091b2033 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -15,11 +15,6 @@ then
 		fmu i2c 2 100000
 	fi
 
-	# External SPI
-	ms5611 -S start
-
-	# Internal SPI (auto detect ms5611 or ms5607)
-	ms5611 -T 0 -s start
 
 	adc start
 fi
diff --git a/boards/airmind/mindpx-v2/init/rc.board_sensors b/boards/airmind/mindpx-v2/init/rc.board_sensors
index cc60077ec1..c881b43db1 100644
--- a/boards/airmind/mindpx-v2/init/rc.board_sensors
+++ b/boards/airmind/mindpx-v2/init/rc.board_sensors
@@ -14,3 +14,6 @@ mpu6000 -s -R 8 start
 mpu9250 -s -R 8 start
 lsm303d -R 10 start
 l3gd20 -R 14 start
+
+# Internal SPI
+ms5611 -s start
diff --git a/boards/auav/x21/init/rc.board_sensors b/boards/auav/x21/init/rc.board_sensors
index 8cb7043a91..4788196bd9 100644
--- a/boards/auav/x21/init/rc.board_sensors
+++ b/boards/auav/x21/init/rc.board_sensors
@@ -18,3 +18,6 @@ mpu6000 -R 2 -T 20602 start
 
 # Internal SPI bus mpu9250 is rotated 90 deg yaw
 mpu9250 -R 2 start
+
+# Internal SPI
+ms5611 -s start
diff --git a/boards/av/x-v1/init/rc.board_sensors b/boards/av/x-v1/init/rc.board_sensors
index 275fc76735..73a0111704 100644
--- a/boards/av/x-v1/init/rc.board_sensors
+++ b/boards/av/x-v1/init/rc.board_sensors
@@ -24,4 +24,3 @@ ist8310 -C -b 1 start
 ist8310 -C -b 2 start
 hmc5883 -C -T -X start
 qmc5883 -X start
-
diff --git a/boards/intel/aerofc-v1/init/rc.board_sensors b/boards/intel/aerofc-v1/init/rc.board_sensors
index cece9a3aaf..e2b090fb7e 100644
--- a/boards/intel/aerofc-v1/init/rc.board_sensors
+++ b/boards/intel/aerofc-v1/init/rc.board_sensors
@@ -14,3 +14,6 @@ ist8310 -C -b 1 -R 4 start
 aerofc_adc start
 
 ll40ls start i2c
+
+# Internal SPI (auto detect ms5611 or ms5607)
+ms5611 -T 0 -s start
diff --git a/boards/px4/fmu-v2/init/rc.board_sensors b/boards/px4/fmu-v2/init/rc.board_sensors
index 96609b2379..bbd792ed65 100644
--- a/boards/px4/fmu-v2/init/rc.board_sensors
+++ b/boards/px4/fmu-v2/init/rc.board_sensors
@@ -14,6 +14,12 @@ hmc5883 -C -T -I -R 4 start
 # Internal SPI bus ICM-20608-G
 mpu6000 -T 20608 start
 
+# External SPI
+ms5611 -S start
+
+# Internal SPI (auto detect ms5611 or ms5607)
+ms5611 -T 0 -s start
+
 set BOARD_FMUV3 0
 
 # V3 build hwtypecmp supports V2|V2M|V30
@@ -59,6 +65,9 @@ then
 	# sensor heating is available, but we disable it for now
 	param set SENS_EN_THERMAL 0
 
+	# External SPI
+	ms5611 -S start
+
 	# external L3GD20H is rotated 180 degrees yaw
 	l3gd20 -X -R 4 start
 
diff --git a/boards/px4/fmu-v3/init/rc.board_sensors b/boards/px4/fmu-v3/init/rc.board_sensors
index 44de83adba..e6ce8ed0e8 100644
--- a/boards/px4/fmu-v3/init/rc.board_sensors
+++ b/boards/px4/fmu-v3/init/rc.board_sensors
@@ -15,6 +15,12 @@ hmc5883 -C -T -I -R 4 start
 # Internal SPI bus ICM-20608-G
 mpu6000 -T 20608 start
 
+# External SPI
+ms5611 -S start
+
+# Internal SPI (auto detect ms5611 or ms5607)
+ms5611 -T 0 -s start
+
 set BOARD_FMUV3 0
 
 # V3 build hwtypecmp supports V2|V2M|V30
@@ -67,6 +73,9 @@ then
 		ak09916 -X -R 6 start
 	fi
 
+	# External SPI
+	ms5611 -S start
+
 	# external L3GD20H is rotated 180 degrees yaw
 	l3gd20 -X -R 4 start
 
diff --git a/boards/px4/fmu-v4/init/rc.board_sensors b/boards/px4/fmu-v4/init/rc.board_sensors
index d0f57537b1..abe322564a 100644
--- a/boards/px4/fmu-v4/init/rc.board_sensors
+++ b/boards/px4/fmu-v4/init/rc.board_sensors
@@ -22,6 +22,9 @@ qmc5883 -X start
 # expansion i2c used for BMM150 rotated by 90deg
 bmm150 -X -R 2 start
 
+# Internal SPI
+ms5611 -s start
+
 # For Teal One airframe
 if param compare SYS_AUTOSTART 4250
 then
diff --git a/boards/px4/fmu-v4pro/init/rc.board_sensors b/boards/px4/fmu-v4pro/init/rc.board_sensors
index 3edb215d06..630720ae24 100644
--- a/boards/px4/fmu-v4pro/init/rc.board_sensors
+++ b/boards/px4/fmu-v4pro/init/rc.board_sensors
@@ -21,3 +21,6 @@ qmc5883 -X start
 
 # RM3100
 rm3100 start
+
+# Internal SPI
+ms5611 -s start
diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors
index 47db34147b..0de253d7c9 100644
--- a/boards/px4/fmu-v5/init/rc.board_sensors
+++ b/boards/px4/fmu-v5/init/rc.board_sensors
@@ -27,3 +27,6 @@ ist8310 -C -b 5 start
 
 # Possible pmw3901 optical flow sensor
 pmw3901 start
+
+# Internal SPI
+ms5611 -s start
diff --git a/boards/uvify/core/init/rc.board_sensors b/boards/uvify/core/init/rc.board_sensors
index 28440fe2fb..7c4be4ad20 100644
--- a/boards/uvify/core/init/rc.board_sensors
+++ b/boards/uvify/core/init/rc.board_sensors
@@ -3,6 +3,9 @@
 # UVify UVF4 specific board sensors init
 #------------------------------------------------------------------------------
 
+# Internal SPI
+ms5611 -s start
+
 # Draco-R
 if param compare SYS_AUTOSTART 6002
 then