diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef-bl.dat
index 96ff86e544..f99489039c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef-bl.dat
@@ -17,4 +17,7 @@ USB_PRODUCT 0x1058
 USB_STRING_MANUFACTURER "CubePilot"
 USB_STRING_PRODUCT "CubeOrange+-BL"
 
+# Unused chip select for ICM45686
+PG1 ICM45686_CS CS SPEED_VERYLOW
+
 APJ_BOARD_ID 1063
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
index e9693dbd35..ab1cb10d2a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrangePlus/hwdef.dat
@@ -18,18 +18,27 @@ USB_PRODUCT 0x1058
 USB_STRING_MANUFACTURER "CubePilot"
 USB_STRING_PRODUCT "CubeOrange+"
 
+# Unused chip select for ICM45686
+PG1 ICM45686_CS CS SPEED_VERYLOW
+
+SPIDEV icm42688_ext2  SPI4 DEVID4  GYRO_EXT_CS   MODE3  2*MHZ  8*MHZ
+
 APJ_BOARD_ID 1063
 
 undef CHECK_ICM42688_EXT
 undef CHECK_IMU0_PRESENT
+undef CHECK_IMU1_PRESENT
 undef IMU
 
 SPIDEV icm42688_ext   SPI4 DEVID4  ACCEL_EXT_CS  MODE3  2*MHZ  8*MHZ
 
 IMU Invensensev3 SPI:icm42688_ext ROTATION_YAW_90
+IMU Invensensev3 SPI:icm42688_ext2 ROTATION_PITCH_180_YAW_90
 IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
 IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
 
+CHECK_ICM42688_EXT2     spi_check_register("icm42688_ext2", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
 CHECK_ICM42688_EXT      spi_check_register("icm42688_ext", INV3REG_WHOAMI, INV3_WHOAMI_ICM42688)
 
 CHECK_IMU0_PRESENT   $CHECK_ICM42688_EXT
+CHECK_IMU1_PRESENT   $CHECK_ICM20948_EXT || $CHECK_ICM42688_EXT2