diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
index ee5d9f2304..a8e21ee470 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
@@ -70,7 +70,7 @@ PF2  RM3100_CS  CS
 PG6  ICM20689_CS CS SPEED_VERYLOW
 PI12 ICM20649_CS CS SPEED_VERYLOW
 PE15 ICM20689_BOARD_CS CS SPEED_VERYLOW
-PA15 ICM42688_CS CS SPEED_VERYLOW
+PA15 ICM42688_CS CS
 PF3  BMI088_A_CS CS
 PF4  BMI088_G_CS CS
 PF5  FRAM_CS CS SPEED_VERYLOW
@@ -240,7 +240,7 @@ SPIDEV icm20649       SPI6 DEVID2  ICM20649_CS       MODE3  2*MHZ  8*MHZ
 SPIDEV icm20689_board SPI6 DEVID2  ICM20689_BOARD_CS MODE3  2*MHZ  8*MHZ
 
 #Mount bmi088_a or icm42688 on SPI4
-SPIDEV icm42688       SPI4 DEVID2  ICM42688_CS     MODE3  2*MHZ  8*MHZ
+SPIDEV icm42688       SPI4 DEVID2  ICM42688_CS     MODE3  2*MHZ  16*MHZ
 
 # two baro
 BARO MS56XX SPI:ms5611_imu
@@ -253,7 +253,7 @@ IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270
 IMU Invensensev2 SPI:icm20649 ROTATION_NONE
 IMU Invensense   SPI:icm20689_board ROTATION_NONE
 
-define HAL_DEFAULT_INS_FAST_SAMPLE 5
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
 
 # compasses