diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 475daf6686..84aa4387a9 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -57,15 +57,16 @@
 
 // InertialSensor driver types
 #define HAL_INS_OILPAN  1
-#define HAL_INS_MPU6000 2
-#define HAL_INS_HIL     3
-#define HAL_INS_PX4     4
-#define HAL_INS_FLYMAPLE 5
-#define HAL_INS_L3G4200D 6
-#define HAL_INS_VRBRAIN  7
-#define HAL_INS_MPU9250  8
-#define HAL_INS_L3GD20   9
-#define HAL_INS_LSM9DS0 10
+#define HAL_INS_MPU60XX_SPI 2
+#define HAL_INS_MPU60XX_I2C 3
+#define HAL_INS_HIL     4
+#define HAL_INS_PX4     5
+#define HAL_INS_FLYMAPLE 6
+#define HAL_INS_L3G4200D 7
+#define HAL_INS_VRBRAIN  8
+#define HAL_INS_MPU9250  9
+#define HAL_INS_L3GD20   10
+#define HAL_INS_LSM9DS0 11
 
 // barometer driver types
 #define HAL_BARO_BMP085     1
@@ -131,7 +132,7 @@
 #define HAL_CPU_CLASS HAL_CPU_CLASS_16
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
-#define HAL_INS_DEFAULT HAL_INS_MPU6000
+#define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
 #ifdef APM2_BETA_HARDWARE
 #define HAL_BARO_DEFAULT HAL_BARO_BMP085
 #else
@@ -212,8 +213,9 @@
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
-#define HAL_INS_DEFAULT HAL_INS_MPU9250
-#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
+#define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
+#define HAL_INS_MPU60XX_I2C_ADDR 0x68
+#define HAL_BARO_DEFAULT HAL_BARO_MS5611_I2C
 #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"