diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat
index fed99f38f4..f0009c0402 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat
@@ -129,6 +129,7 @@ DMA_NOSHARE SPI1*
 
 # spi devices
 SPIDEV mpu6000  SPI4 DEVID1 mpu6000_CS MODE3  1*MHZ  4*MHZ
+SPIDEV icm42688 SPI4 DEVID1 mpu6000_CS MODE3  1*MHZ  16*MHZ
 SPIDEV sdcard   SPI1 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ
 SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
 
@@ -145,6 +146,7 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 
 # one IMU
 IMU Invensense SPI:mpu6000 ROTATION_YAW_180
+IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270
 
 # one BARO
 BARO BMP280 I2C:0:0x76