diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md
index 088c62e100..3d91e0b468 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/README.md
@@ -5,7 +5,7 @@ The MambaH743v4 is a flight controller produced by [Diatone](https://www.diatone
 ## Features
 
  - MCU - STM32H743 32-bit processor running at 480 MHz
- - IMU - Dual MPU6000 (Version A) or BMI270 (Version B)
+ - IMU - Dual MPU6000 (Version A) or BMI270 (Version B) or Dual ICM42688 (v2)
  - Barometer - DPS280
  - OSD - AT7456E
  - Onboard Flash: 1GBit
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat
index 6b05730a1f..e1fa3d42f0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MambaH743v4/hwdef.dat
@@ -160,6 +160,9 @@ SPIDEV bmi270    SPI1 DEVID2 MPU6000_CS   MODE3   1*MHZ  10*MHZ # Clock is 100Mh
 SPIDEV mpu6000_2 SPI4 DEVID4 MPU6000_2_CS MODE3   1*MHZ   4*MHZ
 SPIDEV dataflash SPI3 DEVID1 FLASH_CS     MODE3 104*MHZ 104*MHZ
 SPIDEV osd       SPI2 DEVID4 MAX7456_CS   MODE0  10*MHZ  10*MHZ
+# v2 board has dual ICM42688
+SPIDEV icm42688  SPI1 DEVID1 MPU6000_CS   MODE3   2*MHZ  16*MHZ
+SPIDEV icm42688_2 SPI4 DEVID4 MPU6000_2_CS MODE3  2*MHZ  16*MHZ
 
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
@@ -173,6 +176,8 @@ define HAL_DEFAULT_INS_FAST_SAMPLE 3
 IMU Invensense SPI:mpu6000 ROTATION_YAW_90
 IMU Invensense SPI:mpu6000_2 ROTATION_YAW_180
 IMU BMI270 SPI:bmi270 ROTATION_PITCH_180
+IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180
+IMU Invensensev3 SPI:icm42688_2 ROTATION_ROLL_180_YAW_270
 
 define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV