diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index e61e5f4d44..bb082a8531 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -271,6 +271,7 @@ bool AP_BoardConfig::check_ms5611(const char* devname) {
 #define INV3REG_WHOAMI        0x75
 
 #define INV3_WHOAMI_ICM42688  0x47
+#define INV3_WHOAMI_ICM42670  0x67
 
 /*
   validation of the board type
@@ -489,17 +490,24 @@ void AP_BoardConfig::board_setup()
 
 
 #ifdef HAL_CHIBIOS_ARCH_FMUV6
+
+#define BMI088REG_CHIPID 0x00
+#define CHIPID_BMI088_G 0x0F
+
 /*
   detect which FMUV6 variant we are running on
  */
 void AP_BoardConfig::detect_fmuv6_variant()
 {
-    if ((spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
-         spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688))) {
+    if (((spi_check_register_inv2("icm20649", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) ||
+          spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G)) && // alternative config
+         spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
+         spi_check_register("icm42670", INV3REG_WHOAMI, INV3_WHOAMI_ICM42670))) {
         state.board_type.set_and_notify(FMUV6_BOARD_HOLYBRO_6X);
         DEV_PRINTF("Detected Holybro 6X\n");
     } else if ((spi_check_register_inv2("icm20649_2", INV2REG_WHOAMI, INV2_WHOAMI_ICM20649) &&
-                spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688))) {
+                spi_check_register("icm42688", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688) &&
+                spi_check_register("bmi088_g", BMI088REG_CHIPID, CHIPID_BMI088_G))) {
         state.board_type.set_and_notify(FMUV6_BOARD_CUAV_6X);
         DEV_PRINTF("Detected CUAV 6X\n");
     }