diff --git a/Tools/Linux_HAL_Essentials/sensor-select.sh b/Tools/Linux_HAL_Essentials/sensor-select.sh
new file mode 100755
index 0000000000..f1c9188a87
--- /dev/null
+++ b/Tools/Linux_HAL_Essentials/sensor-select.sh
@@ -0,0 +1,33 @@
+#!/bin/bash
+
+# This script allows you to select which sensors you can use. For now it's resctricted to IMU use
+#		Coded by Víctor Mayoral Vilches <victor@erlerobot.com>
+
+IMU_CONFIG=$(grep -A 5 "#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE" ../../libraries/AP_HAL/AP_HAL_Boards.h| grep HAL_INS_DEFAULT)
+echo "Current setup is: "$IMU_CONFIG
+
+if [ $# -eq 0 ]
+  then
+    	echo "No arguments supplied. Please provide one of the following sensors: mpu6000, mpu9250, lsm9ds0"
+	echo "   Usage: source sensor-select.sh <sensor> "
+	return 0
+fi
+
+if [ $1 == "mpu6000" ]
+then
+	sed -i "s/$IMU_CONFIG/#define HAL_INS_DEFAULT HAL_INS_MPU6000/g" ../../libraries/AP_HAL/AP_HAL_Boards.h
+	echo "MPU6000 selected"
+elif [ $1 == "mpu9250" ]
+then
+	sed -i "s/$IMU_CONFIG/#define HAL_INS_DEFAULT HAL_INS_MPU9250/g" ../../libraries/AP_HAL/AP_HAL_Boards.h
+	echo "MPU9250 selected"
+elif [ $1 == "lsm9ds0" ]
+then
+	sed -i "s/$IMU_CONFIG/#define HAL_INS_DEFAULT HAL_INS_LSM9DS0/g" ../../libraries/AP_HAL/AP_HAL_Boards.h
+	echo "LSM9DS0 selected"
+else
+    	echo "Sensor supplied invaled. Please provide one of the following sensors: mpu6000, mpu9250, lsm9ds0"
+	echo "   Usage: source sensor-select.sh <sensor> "
+	return 0
+fi
+