diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 5ed266dcf5..d3094f8f72 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -873,6 +873,13 @@ AP_InertialSensor::detect_backends(void)
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_OMNIBUSF7V2
     ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6000"), ROTATION_NONE));
     ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("mpu6500"), ROTATION_YAW_90));
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_MROCONTROLZEROF7
+    ADD_BACKEND(AP_InertialSensor_Invensensev2::probe(*this, hal.spi->get_device("icm20948"), ROTATION_ROLL_180_YAW_90));
+    ADD_BACKEND(AP_InertialSensor_Invensense::probe(*this, hal.spi->get_device("icm20608"), ROTATION_ROLL_180_YAW_90));
+    ADD_BACKEND(AP_InertialSensor_BMI088::probe(*this,
+                                                hal.spi->get_device("bmi088_a"),
+                                                hal.spi->get_device("bmi088_g"),
+                                                ROTATION_NONE));
 #elif HAL_INS_DEFAULT == HAL_INS_NONE
     // no INS device
 #else