diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 40549adc2a..daa7150691 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -248,7 +248,7 @@ AP_GPS_None     g_gps_driver(NULL);
 #endif // GPS PROTOCOL
 
 # if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
-  AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
+  AP_InertialSensor_MPU6000 ins;
 # else
   AP_InertialSensor_Oilpan ins( &adc );
 #endif // CONFIG_IMU_TYPE
diff --git a/APMrover2/config.h b/APMrover2/config.h
index 349219f8cd..81365c312f 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -134,12 +134,6 @@
 # define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
 #endif
 
-#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
-# ifndef CONFIG_MPU6000_CHIP_SELECT_PIN
-#  define CONFIG_MPU6000_CHIP_SELECT_PIN 53
-# endif
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // ADC Enable - used to eliminate for systems which don't have ADC.
 //