diff --git a/boards/spracing/h7extreme/default.px4board b/boards/spracing/h7extreme/default.px4board
index dae1e864b2..5e50b09833 100644
--- a/boards/spracing/h7extreme/default.px4board
+++ b/boards/spracing/h7extreme/default.px4board
@@ -8,6 +8,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -21,9 +22,11 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
@@ -35,11 +38,9 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
diff --git a/boards/spracing/h7extreme/init/rc.board_sensors b/boards/spracing/h7extreme/init/rc.board_sensors
index c1277c07df..15ceb4bfca 100644
--- a/boards/spracing/h7extreme/init/rc.board_sensors
+++ b/boards/spracing/h7extreme/init/rc.board_sensors
@@ -1,17 +1,23 @@
 #!/bin/sh
 #
-# SP Racing H7 EXTREME specific board sensors init
+# board specific sensors init
 #------------------------------------------------------------------------------
-board_adc start
 
-# Internal SPI bus ICM-20602
-#mpu6000 -s -b 2 -R 11 -T 20602 start # SPI 2
-#mpu6000 -s -b 3 -R 10 -T 20602 start # SPI 3
-icm20602 -s -b 2 -R 5 start # SPI 2
-icm20602 -s -b 3 -R 4 start # SPI 3
+board_adc start
 
-# Internal I2C bus
-bmp388 -I start
+# Internal SPI bus ICM-20602 or ICM-42688-P
 
+# SPI2
+if ! icm20602 -s -b 2 -R 5 start
+then
+	icm42688p -s -b 2 -R 5 start
+fi
 
+# SPI3
+if ! icm20602 -s -b 3 -R 4 start
+then
+	icm42688p -s -b 3 -R 4 start
+fi
 
+# Internal I2C bus
+bmp388 -I start