diff --git a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors
index 2dc3a6e05de..61a3fbf138f 100644
--- a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors
+++ b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors
@@ -21,9 +21,13 @@ then
 fi
 
 # SPI1, body-fixed
-if ! icm45686 -s -b 1 -R 3 -q start
+if icm45686 -s -b 1 -R 3 -q start
 then
+	# if we detected the ICM45686 we also ought to have an AK09918
+	ak09916 start -I -R 13
+else
 	icm20649 -s -b 1 start
+
 fi
 
 ms5611 -s -b 1 start
diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h b/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h
index 3a4abd0235e..00a886d0860 100644
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h
@@ -187,6 +187,7 @@
 #define STM32_RCC_D1CCIPR_SDMMCSEL   RCC_D1CCIPR_SDMMC_PLL1
 
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
@@ -264,3 +265,6 @@
 
 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11 */
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2        /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2        /* PF15 */
diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig b/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig
index 139b9ea48c2..7bab0a36af9 100644
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig
@@ -189,6 +189,7 @@ CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
diff --git a/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig b/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig
index 59c549337b3..0eebadc3770 100644
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig
@@ -189,6 +189,7 @@ CONFIG_STM32H7_DMACAPABLE=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C4=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
 CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
 CONFIG_STM32H7_OTGFS=y
diff --git a/boards/cubepilot/cubeorangeplus/src/board_config.h b/boards/cubepilot/cubeorangeplus/src/board_config.h
index ad81b75d1eb..1646925c3a3 100644
--- a/boards/cubepilot/cubeorangeplus/src/board_config.h
+++ b/boards/cubepilot/cubeorangeplus/src/board_config.h
@@ -180,6 +180,8 @@
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
 		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
 		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
diff --git a/boards/cubepilot/cubeorangeplus/src/i2c.cpp b/boards/cubepilot/cubeorangeplus/src/i2c.cpp
index 5625423e377..9fcdb91a87e 100644
--- a/boards/cubepilot/cubeorangeplus/src/i2c.cpp
+++ b/boards/cubepilot/cubeorangeplus/src/i2c.cpp
@@ -36,4 +36,5 @@
 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(2),
 	initI2CBusExternal(1),
+	initI2CBusInternal(4),
 };