diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index c9992d7349..9602bfbbf2 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -100,7 +100,6 @@
     // only external compasses
     #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
-    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI2(Invensense, "rst_g", "rst_a", ROTATION_ROLL_180_YAW_90, ROTATION_ROLL_180_YAW_90)
     #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
     #define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
diff --git a/libraries/AP_HAL_Linux/hwdef/rst_zynq/hwdef.dat b/libraries/AP_HAL_Linux/hwdef/rst_zynq/hwdef.dat
index 9b7754fdad..38558ddbea 100644
--- a/libraries/AP_HAL_Linux/hwdef/rst_zynq/hwdef.dat
+++ b/libraries/AP_HAL_Linux/hwdef/rst_zynq/hwdef.dat
@@ -1,5 +1,8 @@
 # Aerotenna Zynq board
 
+# IMUs
+IMU RST SPI:rst_g SPI:rst_a ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90
+
 define DEFAULT_NTF_LED_TYPES (Notify_LED_ToshibaLED_I2C_External)
 
 define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0