diff --git a/platforms/common/include/px4_platform_common/init.h b/platforms/common/include/px4_platform_common/init.h
index e8a135fbf0..5ce6851afd 100644
--- a/platforms/common/include/px4_platform_common/init.h
+++ b/platforms/common/include/px4_platform_common/init.h
@@ -34,6 +34,7 @@
 __BEGIN_DECLS
 
 int px4_platform_init(void);
+void px4_platform_i2c_init(void);
 int px4_platform_console_init(void);
 int px4_platform_configure(void);
 
diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp
index d22905cd38..ceeb79bd72 100644
--- a/platforms/nuttx/src/px4/common/px4_init.cpp
+++ b/platforms/nuttx/src/px4/common/px4_init.cpp
@@ -93,6 +93,37 @@ static void cxx_initialize(void)
 }
 #endif
 
+#if defined(CONFIG_I2C)
+void px4_platform_i2c_init()
+{
+
+	I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};
+
+	while (i2c_bus_iterator.next()) {
+		i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);
+
+#if defined(CONFIG_I2C_RESET)
+		I2C_RESET(i2c_dev);
+#endif // CONFIG_I2C_RESET
+
+		// send software reset to all
+		uint8_t buf[1] {};
+		buf[0] = 0x06; // software reset
+
+		i2c_msg_s msg{};
+		msg.frequency = I2C_SPEED_STANDARD;
+		msg.addr = 0x00; // general call address
+		msg.buffer = &buf[0];
+		msg.length = 1;
+
+		I2C_TRANSFER(i2c_dev, &msg, 1);
+
+		px4_i2cbus_uninitialize(i2c_dev);
+	}
+}
+
+#endif // CONFIG_I2C
+
 int px4_platform_init()
 {
 
@@ -135,32 +166,9 @@ int px4_platform_init()
 #endif
 
 
-#if defined(CONFIG_I2C)
-	I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};
-
-	while (i2c_bus_iterator.next()) {
-		i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);
-
-#if defined(CONFIG_I2C_RESET)
-		I2C_RESET(i2c_dev);
-#endif // CONFIG_I2C_RESET
-
-		// send software reset to all
-		uint8_t buf[1] {};
-		buf[0] = 0x06; // software reset
-
-		i2c_msg_s msg{};
-		msg.frequency = I2C_SPEED_STANDARD;
-		msg.addr = 0x00; // general call address
-		msg.buffer = &buf[0];
-		msg.length = 1;
-
-		I2C_TRANSFER(i2c_dev, &msg, 1);
-
-		px4_i2cbus_uninitialize(i2c_dev);
-	}
-
-#endif // CONFIG_I2C
+#if defined(CONFIG_I2C) && !defined(BOARD_I2C_LATEINIT)
+	px4_platform_i2c_init();
+#endif
 
 #if defined(CONFIG_FS_PROCFS)
 	int ret_mount_procfs = mount(nullptr, "/proc", "procfs", 0, nullptr);