diff --git a/boards/matek/h743-slim/default.px4board b/boards/matek/h743-slim/default.px4board
index fed4e6c1a7..ce5f222229 100644
--- a/boards/matek/h743-slim/default.px4board
+++ b/boards/matek/h743-slim/default.px4board
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
diff --git a/boards/matek/h743-slim/init/rc.board_sensors b/boards/matek/h743-slim/init/rc.board_sensors
index c37c3b3b58..e6761906ee 100644
--- a/boards/matek/h743-slim/init/rc.board_sensors
+++ b/boards/matek/h743-slim/init/rc.board_sensors
@@ -5,15 +5,25 @@
 
 board_adc start
 
-# Internal SPI bus ICM-42605
-if ! icm42605 -R 14 -s start
+# Different board versions have different IMUs, so we try all known options
+
+# Internal SPI bus ICM-42688P (SPI1) on V3 board, PITCH180 orientation
+if ! icm42688p -s -b 1 -R 12 start
 then
-	# internal SPI bus ICM-20602
-	icm20602 -R 12 -s start
+	# Internal SPI bus MPU-6000 on V1.0 and V1.5 boards
+	mpu6000 -s -b 1 -R 12 start
 fi
 
-# Internal SPI bus MPU-6000
-mpu6000 -R 12 -s start
+# Internal SPI bus ICM-42688P (SPI4) on V3 board, PITCH180_YAW90 orientation
+if ! icm42688p -s -b 4 -R 26 start
+then
+	# Internal SPI bus ICM-42605 on V1.5 board, ROTATION_ROLL_180_YAW_270 orientation
+	if ! icm42605 -s -b 4 -R 14 start
+	then
+		# Internal SPI bus ICM-20602 on V1.0 board, PITCH180 orientation
+		icm20602 -s -b 4 -R 12 start
+	fi
+fi
 
 # Internal baro
 dps310 -I start -a 118
diff --git a/boards/matek/h743-slim/src/spi.cpp b/boards/matek/h743-slim/src/spi.cpp
index db673bedf0..84f887aa69 100644
--- a/boards/matek/h743-slim/src/spi.cpp
+++ b/boards/matek/h743-slim/src/spi.cpp
@@ -38,7 +38,11 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
+		// Matek H743 Slim V1.0 and V1.5
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
+
+		// Matek H743 Slim V3
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
@@ -48,8 +52,14 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIConfigExternal(SPI::CS{GPIO::PortE, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}),
+		// Matek H743 Slim V1.0
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortE, GPIO::Pin11}),
+
+		// Matek H743 Slim V1.5
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42605, SPI::CS{GPIO::PortC, GPIO::Pin13}),
+
+		// Matek H743 Slim V3
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}),
 	}),
 };