diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors
index 2b8d344ca066..a54eab13ed4a 100644
--- a/boards/px4/fmu-v5x/init/rc.board_sensors
+++ b/boards/px4/fmu-v5x/init/rc.board_sensors
@@ -49,7 +49,7 @@ then
 	fi
 fi
 
-if ver hwbasecmp 008 009 00a 010
+if ver hwbasecmp 008 009 00a 010 011
 then
 	#SKYNODE base fmu board orientation
 
@@ -72,6 +72,27 @@ then
 	# Internal magnetometer on I2c
 	bmm150 -I -R 6 start
 
+else
+	#FMUv5Xbase board orientation
+
+	if ver hwtypecmp V5X000 V5X001
+	then
+		# Internal SPI BMI088
+		bmi088 -A -R 4 -s start
+		bmi088 -G -R 4 -s start
+	else
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 6 start
+	fi
+
+	# Internal SPI bus ICM42688p
+	icm42688p -R 6 -s start
+
+	# Internal SPI bus ICM-20602 (hard-mounted)
+	icm20602 -R 10 -s start
+
+	# Internal magnetometer on I2c
+	bmm150 -I start
 fi
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)