diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index e63f7c8618..14e82c5540 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -817,6 +817,24 @@ AP_InertialSensor::detect_backends(void)
                                                       ROTATION_YAW_90));
         break;
         
+    case AP_BoardConfig::VRX_BOARD_BRAIN54:
+        _fast_sampling_mask.set_default(7);
+        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_180));
+        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_EXT_NAME), ROTATION_YAW_180));
+#ifdef HAL_INS_MPU60x0_IMU_NAME
+        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_IMU_NAME), ROTATION_YAW_180));
+#endif
+        break;
+
+    case AP_BoardConfig::VRX_BOARD_BRAIN51:
+    case AP_BoardConfig::VRX_BOARD_BRAIN52:
+    case AP_BoardConfig::VRX_BOARD_BRAIN52E:
+    case AP_BoardConfig::VRX_BOARD_CORE10:
+    case AP_BoardConfig::VRX_BOARD_UBRAIN51:
+    case AP_BoardConfig::VRX_BOARD_UBRAIN52:
+        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME), ROTATION_YAW_180));
+        break;
+
     default:
         break;
     }