diff --git a/boards/omnibus/f4sd/default.cmake b/boards/omnibus/f4sd/default.cmake
index 44dbbf169e..88d9cccdea 100644
--- a/boards/omnibus/f4sd/default.cmake
+++ b/boards/omnibus/f4sd/default.cmake
@@ -22,7 +22,8 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/mpu6000
+		#imu/mpu6000
+		imu/invensense/mpu6000
 		imu/invensense/icm20602
 		#irlock
 		#lights/blinkm
@@ -93,7 +94,7 @@ px4_add_board(
 		shutdown
 		#tests # tests and test runner
 		top
-		topic_listener
+		#topic_listener
 		tune_control
 		usb_connected
 		ver
diff --git a/boards/omnibus/f4sd/init/rc.board_sensors b/boards/omnibus/f4sd/init/rc.board_sensors
index 1055af62e3..8cbd52454a 100644
--- a/boards/omnibus/f4sd/init/rc.board_sensors
+++ b/boards/omnibus/f4sd/init/rc.board_sensors
@@ -5,7 +5,7 @@
 
 adc start
 
-if ! mpu6000 -R 12 -s start
+if ! mpu6000 -R 6 -s start
 then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
 	icm20602 -s -R 6 start