diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index f17b650bc2..7f73acf859 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -19,12 +19,18 @@ fi
 if mpu6000 start
 then
 	echo "using MPU6000"
-	set BOARD fmuv1
-else
-	echo "using L3GD20 and LSM303D"
-	l3gd20 start
-	lsm303d start
+fi
+
+if l3gd20 start
+then
+	echo "using L3GD20(H)"		
+fi
+
+if lsm303d start
+then
 	set BOARD fmuv2
+else
+	set BOARD fmuv1
 fi
 
 # Start airspeed sensors
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index 015a7387a6..68673c0552 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -21,6 +21,7 @@ MODULES		+= drivers/px4fmu
 MODULES		+= drivers/px4io
 MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= drivers/rgbled
+MODULES		+= drivers/mpu6000
 MODULES		+= drivers/lsm303d
 MODULES		+= drivers/l3gd20
 MODULES		+= drivers/hmc5883
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index d639acba15..670e51b979 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -316,7 +316,7 @@ private:
 };
 
 L3GD20::L3GD20(int bus, const char* path, spi_dev_e device) :
-	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 8000000),
+	SPI("L3GD20", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within margins for L3GD20 */),
 	_call_interval(0),
 	_reports(nullptr),
 	_gyro_range_scale(0.0f),
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 11e5b95a7e..969b5e25f9 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -486,7 +486,7 @@ private:
 
 
 LSM303D::LSM303D(int bus, const char* path, spi_dev_e device) :
-	SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 8000000),
+	SPI("LSM303D", path, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz, within safety margins for LSM303D */),
 	_mag(new LSM303D_mag(this)),
 	_call_accel_interval(0),
 	_call_mag_interval(0),
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index c95d11c83b..be4e422b04 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -170,7 +170,7 @@
   SPI speed
  */
 #define MPU6000_LOW_BUS_SPEED				1000*1000
-#define MPU6000_HIGH_BUS_SPEED				10*1000*1000
+#define MPU6000_HIGH_BUS_SPEED				11*1000*1000 /* will be rounded to 10.4 MHz, within margins for MPU6K */
 
 class MPU6000_gyro;
 
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp
index bc4074c55e..26216e840f 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -121,7 +121,7 @@ MS5611_spi_interface(ms5611::prom_u &prom_buf)
 }
 
 MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
-	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 6*1000*1000),
+	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
 	_prom(prom_buf)
 {
 }