diff --git a/boards/zeroone/x6/default.px4board b/boards/zeroone/x6/default.px4board
index 3fbbe8b1c40..4363426d186 100644
--- a/boards/zeroone/x6/default.px4board
+++ b/boards/zeroone/x6/default.px4board
@@ -10,6 +10,8 @@ CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_BAROMETER_BMP581=y
+CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -21,6 +23,7 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_COMMON_LIGHT=y
diff --git a/boards/zeroone/x6/init/rc.board_sensors b/boards/zeroone/x6/init/rc.board_sensors
index cd320ec5d1d..b021a66cc04 100644
--- a/boards/zeroone/x6/init/rc.board_sensors
+++ b/boards/zeroone/x6/init/rc.board_sensors
@@ -66,7 +66,10 @@ then
 	bmi088 -G -R 4 -s start           # X6
 
 	# Internal SPI bus icm45686 with SPIX
-	icm45686 -b 1 -s -R 8 start       # X6 & X6 air
+	if ! icm45686 -b 1 -s -R 8 start       # X6 & X6 air
+	then
+		iim42652 -b 1 -s -R 8 start    # X6 air V2
+	fi
 fi
 
 
@@ -79,27 +82,36 @@ then
 	bmi088 -G -R 4 -s start
 
 	# Internal SPI bus IIM42653 with SPIX
-	iim42653 -b 1 -s -R 8 start
+	if ! iim42653 -b 1 -s -R 8 start
+	then
+		iim42652 -b 1 -s -R 8 start    # X6 Pro V2
+	fi
 fi
 
 # External compass on GPS1/I2C1 bus
 ist8310 -X -b 1 -R 10 start
 # Internal compass
-if ! rm3100 -I -b 4 start # X6 & X6 PRO & X6 Ultra
+if ! rm3100 -I -b 4 start # X6 Series
 then
 	if ! ist8310 -I -a 0x0E -R 12 start # X6 air
 	then
-		bmm350 -I -b 4 -a 0x15 -R 14 start # X6 air II
+		bmm350 -I -b 4 -a 0x15 -R 14 start # X6 air V2
 	fi
 fi
 
 # Possible internal Baro
 if param compare SENS_INT_BARO_EN 1
 then
-	icp201xx -I -a 0x64 start
+	if ! icp201xx -I -a 0x64 start
+	then
+		bmp581 -I -a 0X47 start
+	fi
 fi
-icp201xx -X start
 #external baro
+if ! icp201xx -X start
+then
+	spa06 -X -a 0x77 start
+fi
 
 unset INA_CONFIGURED
 unset HAVE_PM2
diff --git a/boards/zeroone/x6/src/spi.cpp b/boards/zeroone/x6/src/spi.cpp
index d9318233dd4..ce8da003e07 100644
--- a/boards/zeroone/x6/src/spi.cpp
+++ b/boards/zeroone/x6/src/spi.cpp
@@ -39,6 +39,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 	initSPIFmumID(ZeroOneX6_0, {
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
@@ -59,6 +60,7 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 	initSPIFmumID(ZeroOneX6_1, {            // X6 Pro
 		initSPIBus(SPI::Bus::SPI1, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
 		}, {GPIO::PortI, GPIO::Pin11}),
 		initSPIBus(SPI::Bus::SPI2, {
 			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),