diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index c49b6fc325..8f37be0e4a 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -454,6 +454,7 @@ bool AP_BoardConfig::spi_check_register(const char *devname, uint8_t regnum, uin
 #define MPU_WHOAMI_MPU60X0  0x68
 #define MPU_WHOAMI_MPU9250  0x71
 #define MPU_WHOAMI_ICM20608 0xaf
+#define MPU_WHOAMI_ICM20602 0x12
 
 #define LSMREG_WHOAMI 0x0f
 #define LSM_WHOAMI_LSM303D 0x49
@@ -476,12 +477,14 @@ void AP_BoardConfig::px4_autodetect(void)
 #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
     if ((spi_check_register(HAL_INS_MPU60x0_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
          spi_check_register(HAL_INS_MPU9250_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250) ||
-         spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608)) &&
+         spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
+         spi_check_register(HAL_INS_ICM20608_EXT_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
         spi_check_register(HAL_INS_LSM9DS0_EXT_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D)) {
         // Pixhawk2 has LSM303D and MPUxxxx on external bus
         px4.board_type.set(PX4_BOARD_PIXHAWK2);
         hal.console->printf("Detected PIXHAWK2\n");
-    } else if (spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) &&
+    } else if ((spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
+                spi_check_register(HAL_INS_ICM20608_AM_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602)) &&
                spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250)) {
         // PHMINI has an ICM20608 and MPU9250 on sensor bus
         px4.board_type.set(PX4_BOARD_PHMINI);
@@ -489,6 +492,7 @@ void AP_BoardConfig::px4_autodetect(void)
     } else if (spi_check_register(HAL_INS_LSM9DS0_A_NAME, LSMREG_WHOAMI, LSM_WHOAMI_LSM303D) &&
                (spi_check_register(HAL_INS_MPU60x0_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU60X0) ||
                 spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20608) ||
+                spi_check_register(HAL_INS_ICM20608_NAME, MPUREG_WHOAMI, MPU_WHOAMI_ICM20602) ||
                 spi_check_register(HAL_INS_MPU9250_NAME, MPUREG_WHOAMI, MPU_WHOAMI_MPU9250))) {
         // classic or upgraded Pixhawk1
         px4.board_type.set(PX4_BOARD_PIXHAWK);