diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/hwdef.dat
index 303a98cbc7..ee5c7de649 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745v2/hwdef.dat
@@ -50,7 +50,7 @@ PA7 SPI1_MOSI SPI1
 #PB15 SPI2_MOSI SPI2
 
 # SPI3 for Gyro
-PA15 BMI270_CS CS
+PA15 GYRO_CS CS
 PC10 SPI3_SCK SPI3
 PC11 SPI3_MISO SPI3
 PC12 SPI3_MOSI SPI3
@@ -118,8 +118,9 @@ STORAGE_FLASH_PAGE 1
 # enable logging to dataflash
 define HAL_LOGGING_DATAFLASH_ENABLED 1
 
-# spi devices
-SPIDEV bmi270    SPI3 DEVID1 BMI270_CS  MODE3  1*MHZ  4*MHZ
+# spi devices bmi270(v2) icm42688 (v3)
+SPIDEV bmi270    SPI3 DEVID1 GYRO_CS  MODE3  1*MHZ  4*MHZ
+SPIDEV icm42688  SPI3 DEVID1 GYRO_CS  MODE3  2*MHZ  8*MHZ
 SPIDEV dataflash SPI4 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
 SPIDEV osd       SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
 
@@ -127,8 +128,10 @@ SPIDEV osd       SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ
 define ALLOW_ARM_NO_COMPASS
 define HAL_I2C_INTERNAL_MASK 0
 
-# one IMU bmi270
+# one IMU: bmi270 or icm42688
 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90
+
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
 
 # no BARO