diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 57f2247523..58e131879f 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -7,6 +7,11 @@
 #define HAL_STORAGE_SIZE            16384
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
 
+// make sensor selection clearer
+#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.i2c_mgr->get_device(bus, addr),##args))
+#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
+#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))
+
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
     #define HAL_BOARD_LOG_DIRECTORY "logs"
     #define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
@@ -15,13 +20,11 @@
     #define HAL_BARO_DEFAULT HAL_BARO_HIL
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
-    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
     #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
-        #define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_270
+      #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_270)
     #else
-        #define HAL_INS_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
+      #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_90)
     #endif
-    #define HAL_INS_MPU9250_NAME "mpu9250"
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
     #define HAL_BARO_MS5611_NAME "ms5611"
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
@@ -36,10 +39,7 @@
     #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
     #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
     #define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
-    #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
-    #define HAL_INS_MPU60x0_I2C_BUS 2
-    #define HAL_INS_MPU60x0_I2C_ADDR 0x68
+    #define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
     #define HAL_COMPASS_AK8963_I2C_BUS 1
     #define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
@@ -80,10 +80,7 @@
     #define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
     #define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
     #define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
-    #define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_90
-    #define HAL_INS_MPU60x0_I2C_BUS 2
-    #define HAL_INS_MPU60x0_I2C_ADDR 0x68
+    #define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
     #define HAL_COMPASS_AK8963_I2C_BUS 1
     #define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
@@ -127,9 +124,7 @@
     #define HAL_GPIO_C_LED_PIN 2
     #define HAL_GPIO_LED_ON HIGH
     #define HAL_GPIO_LED_OFF LOW
-    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
-    #define HAL_INS_MPU9250_NAME "mpu9250"
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
     #define HAL_BARO_MS5611_I2C_BUS 1
     #define HAL_BARO_MS5611_I2C_ADDR 0x77
@@ -139,9 +134,7 @@
     #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
     #define HAL_HAVE_SERVO_VOLTAGE 1
-    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
-    #define HAL_INS_MPU9250_NAME "mpu9250"
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_INS_LSM9DS1_NAME "lsm9ds1"
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
     #define HAL_BARO_MS5611_I2C_BUS 1
@@ -151,9 +144,7 @@
     #define HAL_COMPASS_HMC5843_I2C_BUS 1
     #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
-    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
-    #define HAL_INS_MPU9250_NAME "mpu9250"
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
     #define HAL_BARO_MS5611_NAME "ms5611"
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
@@ -171,9 +162,7 @@
     #define HAL_BARO_DEFAULT HAL_BARO_HIL
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
-    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
-    #define HAL_INS_MPU9250_NAME "mpu9250"
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
     #define HAL_BARO_MS5611_NAME "ms5611"
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
@@ -188,10 +177,9 @@
     #define HAL_GPIO_LED_ON LOW
     #define HAL_GPIO_LED_OFF HIGH
     #define HAL_BUZZER_PIN 11
-    #define HAL_INS_DEFAULT HAL_INS_BBBMINI
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
-    #define HAL_INS_MPU9250_NAME "mpu9250"
-    #define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
+    #define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
+    #define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
+    #define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
     #define HAL_BARO_MS5611_NAME "ms5611"
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
@@ -206,10 +194,7 @@
     #define HAL_GPIO_B_LED_PIN 67
     #define HAL_GPIO_LED_ON    HIGH
     #define HAL_GPIO_LED_OFF   LOW
-    #define HAL_INS_DEFAULT HAL_INS_MPU9250_I2C
-    #define HAL_INS_MPU9250_I2C_BUS 2
-    #define HAL_INS_MPU9250_I2C_ADDR 0x68
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
+    #define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
     #define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
     #define HAL_BARO_BMP280_BUS 2
     #define HAL_BARO_BMP280_I2C_ADDR 0x76
@@ -229,9 +214,7 @@
     #define HAL_GPIO_LED_ON    HIGH
     #define HAL_GPIO_LED_OFF   LOW
     #define HAL_BUZZER_PIN 28
-    #define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
-    #define HAL_INS_MPU9250_NAME "mpu9250"
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_BARO_DEFAULT HAL_BARO_BMP280_SPI
     #define HAL_BARO_BMP280_NAME "bmp280"
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
@@ -245,10 +228,9 @@
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
     #define HAL_BARO_MS5611_I2C_BUS 1
     #define HAL_BARO_MS5611_I2C_ADDR 0x77
-    #define HAL_INS_DEFAULT HAL_INS_BH
-    #define HAL_INS_MPU9250_NAME "mpu9250"
-    #define HAL_INS_MPU60x0_I2C_BUS 1
-    #define HAL_INS_MPU60x0_I2C_ADDR 0x69
+    #define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
+    #define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
+    #define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
     /* HMC5843 can be an external compass */
     #define HAL_COMPASS_HMC5843_I2C_BUS 1
@@ -262,9 +244,7 @@
     #define HAL_RCOUT_RGBLED_GREEN    14
     #define HAL_RCOUT_RGBLED_BLUE     15
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
-    #define HAL_INS_DEFAULT           HAL_INS_MPU9250_SPI
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_270
-    #define HAL_INS_MPU9250_NAME "mpu9250"
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
     #define HAL_BARO_DEFAULT          HAL_BARO_MS5611_SPI
     #define HAL_BARO_MS5611_NAME "ms5611"
     #define HAL_COMPASS_DEFAULT       HAL_COMPASS_AK8963_MPU9250
@@ -277,7 +257,7 @@
     #define HAL_GPIO_LED_ON           LOW
     #define HAL_GPIO_LED_OFF          HIGH
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
-    #define HAL_INS_DEFAULT HAL_INS_AERO
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
     #define HAL_BARO_MS5611_I2C_BUS 2
     #define HAL_BARO_MS5611_I2C_ADDR 0x76
@@ -291,9 +271,7 @@
     #define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
     #define HAL_WITH_UAVCAN 1
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
-    #define HAL_INS_DEFAULT           HAL_INS_MPU9250_SPI
-    #define HAL_INS_DEFAULT_ROTATION ROTATION_NONE
-    #define HAL_INS_MPU9250_NAME "mpu9250"
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
     #define HAL_BARO_MS5611_I2C_BUS 1
@@ -308,9 +286,9 @@
     #define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
     #define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
     #define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
-    #define HAL_INS_DEFAULT HAL_INS_EDGE
-    #define HAL_INS_MPU60x0_NAME "mpu60x0"
-    #define HAL_INS_MPU60x0_NAME_EXT "mpu60x0ext"
+    #define HAL_INS_PROBE1 PROBE_IMU_SPI(Invensense, "mpu60x0", ROTATION_YAW_90)
+    #define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
+    #define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
     #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
     #define HAL_BARO_MS5611_NAME "ms5611"
     #define HAL_COMPASS_HMC5843_I2C_BUS 1
@@ -330,11 +308,7 @@
     #define HAL_GPS_TYPE_DEFAULT 9
     #define HAL_CAN_DRIVER_DEFAULT 1
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
-    #define HAL_INS_DEFAULT HAL_INS_RST
-    #define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90
-    #define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90
-    #define HAL_INS_RST_G_NAME "rst_g"  //gyro
-    #define HAL_INS_RST_A_NAME "rst_a"  //accel
+    #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_DEFAULT HAL_BARO_MS5611_SPI
     #define HAL_BARO_MS5611_NAME "ms5611"
     #define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL