diff --git a/boards/holybro/kakuteh7/default.px4board b/boards/holybro/kakuteh7/default.px4board
index a9f38ba78c..270caa7b65 100644
--- a/boards/holybro/kakuteh7/default.px4board
+++ b/boards/holybro/kakuteh7/default.px4board
@@ -14,7 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
diff --git a/boards/holybro/kakuteh7/init/rc.board_sensors b/boards/holybro/kakuteh7/init/rc.board_sensors
index c6c9960c39..eb0413343b 100644
--- a/boards/holybro/kakuteh7/init/rc.board_sensors
+++ b/boards/holybro/kakuteh7/init/rc.board_sensors
@@ -8,7 +8,7 @@ board_adc start
 # but there might also be an MPU6000
 if ! mpu6000 -R 6 -s start
 then
-	icm20689 -R 6 -s start
+	icm42688p -R 6 -s start
 fi
 
 bmp280 -X start
diff --git a/boards/holybro/kakuteh7mini/default.px4board b/boards/holybro/kakuteh7mini/default.px4board
index 3310e79fbb..b49f1cfa01 100644
--- a/boards/holybro/kakuteh7mini/default.px4board
+++ b/boards/holybro/kakuteh7mini/default.px4board
@@ -14,7 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
diff --git a/boards/holybro/kakuteh7mini/init/rc.board_sensors b/boards/holybro/kakuteh7mini/init/rc.board_sensors
index 89a18f52b5..0b58d912bb 100644
--- a/boards/holybro/kakuteh7mini/init/rc.board_sensors
+++ b/boards/holybro/kakuteh7mini/init/rc.board_sensors
@@ -4,6 +4,9 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-bmi270 -R 6 -s start
+if ! bmi270 -s -q start
+then
+	icm42688p -R 0 -s start
+fi
 
 bmp280 -X start
diff --git a/boards/holybro/kakuteh7v2/default.px4board b/boards/holybro/kakuteh7v2/default.px4board
index 9c060d8442..d9d432beec 100644
--- a/boards/holybro/kakuteh7v2/default.px4board
+++ b/boards/holybro/kakuteh7v2/default.px4board
@@ -14,7 +14,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
diff --git a/boards/holybro/kakuteh7v2/init/rc.board_sensors b/boards/holybro/kakuteh7v2/init/rc.board_sensors
index 221983e789..ad7025102a 100644
--- a/boards/holybro/kakuteh7v2/init/rc.board_sensors
+++ b/boards/holybro/kakuteh7v2/init/rc.board_sensors
@@ -4,6 +4,9 @@
 #------------------------------------------------------------------------------
 board_adc start
 
-bmi270 -s start
+if ! bmi270 -s -q start
+then
+	icm42688p -R 0 -s start
+fi
 
 bmp280 -X start