diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index fcfba11239..9fdfd12c46 100644
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -248,40 +248,56 @@ else
         fi
     fi
 
-    if mpu6000 start
+    if mpu6000 -X -R 4 start
     then
-       echo "Found MPU6000"
+       echo "Found MPU6000 external"
+       set HAVE_FMUV3 true
     else
-       echo "No MPU6000"
-       echo "No MPU6000" >> $logfile
+       echo "No MPU6000 external"
     fi
-    if l3gd20 start
-    then
-       echo "l3gd20 started OK"
-    else
-        if l3gd20 -X start
+    if [ $HAVE_FMUV3 == true ]
+        if mpu6000 -R 14 start
+        then
+               echo "Found MPU6000 internal"
+        else
+               echo "No MPU6000"
+               echo "No MPU6000" >> $logfile
+               sh /etc/init.d/rc.error
+        fi
+        if l3gd20 -X -R 6 start
         then
                echo "l3gd20 external started OK"
         else
+               echo "No l3gd20"
                sh /etc/init.d/rc.error
         fi
-    fi
-    if lsm303d start
-    then
-       echo "lsm303d started OK"
-    else
-        if lsm303d -X start
+        if lsm303d -X -R 6 start
         then
                echo "lsm303d external started OK"
         else
+               echo "No lsm303d"
                sh /etc/init.d/rc.error
         fi
-    fi
-    if mpu6000 -X start
-    then
-       echo "Found MPU6000 external"
     else
-       echo "No MPU6000 external"
+        if mpu6000 start
+        then
+               echo "Found MPU6000"
+        else
+               echo "No MPU6000"
+               echo "No MPU6000" >> $logfile
+        fi
+        if l3gd20 start
+        then
+               echo "l3gd20 started OK"
+        else
+               sh /etc/init.d/rc.error
+        fi
+        if lsm303d start
+        then
+               echo "lsm303d started OK"
+        else
+               sh /etc/init.d/rc.error
+        fi
     fi
 fi