diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat
index 1e3560cdb8..870c162f68 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat
@@ -121,6 +121,7 @@ define HAL_LOGGING_DATAFLASH_ENABLED 1
 # spi devices bmi270(v2) icm42688 (v3)
 SPIDEV bmi270    SPI3 DEVID1 GYRO_CS  MODE3  1*MHZ  4*MHZ
 SPIDEV icm42688  SPI3 DEVID1 GYRO_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV mpu6000   SPI3 DEVID1 GYRO_CS  MODE3  1*MHZ  4*MHZ
 SPIDEV dataflash SPI4 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
 SPIDEV osd       SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
 
@@ -129,9 +130,10 @@ define ALLOW_ARM_NO_COMPASS
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 
-# one IMU: bmi270 or icm42688
+# one IMU: bmi270 or icm42688 or mpu6000
 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
 IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90
+IMU Invensense SPI:mpu6000 ROTATION_YAW_90
 
 define HAL_DEFAULT_INS_FAST_SAMPLE 1