diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 27e5fb4ee8..97b5374ada 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -47,6 +47,29 @@ if adc start
 then
 fi
 
+if ver hwcmp AUAV_X21
+then
+	# I2C bus
+	if hmc5883 -C -T start
+	then
+	fi
+
+	# I2C bus
+	if lis3mdl start
+	then
+	fi
+
+	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20608 start
+	then
+	fi
+
+	# Internal SPI bus mpu9250 is rotated 90 deg yaw
+	if mpu9250 -R 2 start
+	then
+	fi
+fi
+
 if ver hwcmp PX4FMU_V2
 then
 	# External I2C bus