diff --git a/src/drivers/boards/px4fmu-v4/board_config.h b/src/drivers/boards/px4fmu-v4/board_config.h
index 64ce4e98b3..8fedff12c3 100644
--- a/src/drivers/boards/px4fmu-v4/board_config.h
+++ b/src/drivers/boards/px4fmu-v4/board_config.h
@@ -82,12 +82,17 @@
 
 /* The BMI160 sensor replaces the MPU9250 on some boards. Only one is actually present and connected
  * to the second GPIO pin on port C. The wrong driver will fail during start becaus of an incorrect WHO_AM_I register.*/
-#define GPIO_SPI_CS_BMI160		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_SPI1_CS_PORTC_PIN2		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
 
 #define GPIO_SPI_CS_FRAM		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 
-#define GPIO_SPI_CS_BMI055_ACC  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
-#define GPIO_SPI_CS_BMI055_GYR  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
+/* The BMI055 acceleration sensor replaces the ICM20608G on some boards. Only one is actually present and connected
+ * to the second GPIO pin on port C. The wrong driver will fail during start becaus of an incorrect WHO_AM_I register.*/
+#define GPIO_SPI1_CS_PORTC_PIN15  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
+
+/* The BMI055 gyroscope sensor replaces the LIS3MDL, HMC5983 on some boards. Only one is actually present and connected
+ * to the second GPIO pin on port E. The wrong driver will fail during start becaus of an incorrect WHO_AM_I register.*/
+#define GPIO_SPI1_CS_PORTE_PIN15  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
 
 
 /*  Define the Ready interrupts */
@@ -108,9 +113,9 @@
 #define GPIO_SPI_CS_OFF_LIS3MDL		_PIN_OFF(GPIO_SPI_CS_LIS3MDL)
 #define GPIO_SPI_CS_OFF_MS5611		_PIN_OFF(GPIO_SPI_CS_MS5611)
 #define GPIO_SPI_CS_OFF_ICM_2060X 	_PIN_OFF(GPIO_SPI_CS_ICM_2060X)
-#define GPIO_SPI_CS_OFF_BMI160		_PIN_OFF(GPIO_SPI_CS_BMI160)
-#define GPIO_SPI_CS_OFF_BMI055_ACC _PIN_OFF(GPIO_SPI_CS_BMI055_ACC)
-#define GPIO_SPI_CS_OFF_BMI055_GYR _PIN_OFF(GPIO_SPI_CS_BMI055_GYR)
+#define GPIO_SPI_CS_OFF_BMI160		_PIN_OFF(GPIO_SPI1_CS_PORTC_PIN2)
+#define GPIO_SPI_CS_OFF_BMI055_ACC _PIN_OFF(GPIO_SPI1_CS_PORTC_PIN15)
+#define GPIO_SPI_CS_OFF_BMI055_GYR _PIN_OFF(GPIO_SPI1_CS_PORTE_PIN15)
 
 #define GPIO_DRDY_OFF_MPU9250		_PIN_OFF(GPIO_DRDY_MPU9250)
 #define GPIO_DRDY_OFF_ICM_2060X	_PIN_OFF(GPIO_DRDY_ICM_2060X)
diff --git a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
index 4ff24bd14e..89b3a1d54d 100644
--- a/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
@@ -76,9 +76,9 @@ __EXPORT void stm32_spiinitialize(void)
 	px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
 	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
-	px4_arch_configgpio(GPIO_SPI_CS_BMI160);
-	px4_arch_configgpio(GPIO_SPI_CS_BMI055_ACC);
-	px4_arch_configgpio(GPIO_SPI_CS_BMI055_GYR);
+	px4_arch_configgpio(GPIO_SPI1_CS_PORTC_PIN2);   //BMI160
+	px4_arch_configgpio(GPIO_SPI1_CS_PORTC_PIN15);  //BMI055 ACC
+	px4_arch_configgpio(GPIO_SPI1_CS_PORTE_PIN15);  //BMI055 GYRO
 
 	/* De-activate all peripherals,
 	 * required for some peripheral
@@ -88,9 +88,9 @@ __EXPORT void stm32_spiinitialize(void)
 	px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 	px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 	px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
-	px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
+	px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
+	px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
+	px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
 
 	px4_arch_configgpio(GPIO_DRDY_MPU9250);
 	px4_arch_configgpio(GPIO_DRDY_HMC5983);
@@ -116,9 +116,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 	/* intended fallthrough */
 	case PX4_SPIDEV_ICM_20608:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -131,9 +131,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_BARO:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);     //BMI160
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);    //BMI055 ACC
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);    //BMI055 GYRO
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, !selected);
@@ -142,9 +142,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_HMC:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);     //BMI160
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);    //BMI055 ACC
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);    //BMI055 GYRO
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -153,9 +153,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	case PX4_SPIDEV_MPU:
 		/* Making sure the other peripherals are not selected */
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);     //BMI160
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);    //BMI055 ACC
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);    //BMI055 GYRO
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
@@ -168,9 +168,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, !selected);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);    //BMI055 ACC
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);    //BMI055 GYRO
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, !selected); //BMI160
 		break;
 
 	case PX4_SPIDEV_BMI055_ACC:
@@ -179,9 +179,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, !selected);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);     //BMI160
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, 1);    //BMI055 GYRO
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, !selected); //BMI055 ACC
 		break;
 
 	case PX4_SPIDEV_BMI055_GYR:
@@ -190,9 +190,9 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 		px4_arch_gpiowrite(GPIO_SPI_CS_HMC5983, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MS5611, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI160, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_ACC, 1);
-		px4_arch_gpiowrite(GPIO_SPI_CS_BMI055_GYR, !selected);
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);     //BMI160
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);    //BMI055 ACC
+		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTE_PIN15, !selected);    //BMI055 GYRO
 		break;
 
 	default:
@@ -243,17 +243,17 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_HMC5983);
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_OFF_ICM_2060X);
-	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);
-	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_ACC);
-	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_GYR);
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);   // BMI160
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_ACC);  // BMI055 ACC
+	px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_GYR);  // BMI055 GYRO
 
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MPU9250, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_HMC5983, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_MS5611, 0);
 	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_ICM_2060X, 0);
-	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0);
-	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_ACC, 0);
-	px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_GYR, 0);
+    px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI160, 0);     // BMI160
+    px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_ACC, 0);    // BMI055 ACC
+    px4_arch_gpiowrite(GPIO_SPI_CS_OFF_BMI055_GYR, 0);    // BMI055 GYRO
 
 	stm32_configgpio(GPIO_SPI1_SCK_OFF);
 	stm32_configgpio(GPIO_SPI1_MISO_OFF);
@@ -293,9 +293,9 @@ __EXPORT void board_spi_reset(int ms)
 	px4_arch_configgpio(GPIO_SPI_CS_HMC5983);
 	px4_arch_configgpio(GPIO_SPI_CS_MS5611);
 	px4_arch_configgpio(GPIO_SPI_CS_ICM_2060X);
-	px4_arch_configgpio(GPIO_SPI_CS_BMI160);
-	px4_arch_configgpio(GPIO_SPI_CS_BMI055_ACC);
-	px4_arch_configgpio(GPIO_SPI_CS_BMI055_GYR);
+    px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI160);		// BMI160
+    px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_ACC);	// BMI055 ACC
+    px4_arch_configgpio(GPIO_SPI_CS_OFF_BMI055_GYR);	// BMI055 GYRO
 
 	stm32_configgpio(GPIO_SPI1_SCK);
 	stm32_configgpio(GPIO_SPI1_MISO);