diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 541fb526d3..56bce77aab 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -739,6 +739,12 @@ AP_InertialSensor::detect_backends(void)
         ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME), ROTATION_YAW_270));
         break;
 
+    case AP_BoardConfig::PX4_BOARD_FMUV5:
+        _fast_sampling_mask.set_default(1);
+        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20689"), ROTATION_NONE));
+        ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20602"), ROTATION_NONE));
+        break;
+        
     case AP_BoardConfig::PX4_BOARD_SP01:
         _fast_sampling_mask.set_default(1);
         ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_EXT_NAME), ROTATION_NONE));