diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board
index a3e46c21c0a..4a6af4f6d8b 100644
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@@ -17,6 +17,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_LIGHT=y
diff --git a/boards/ark/fmu-v6x/src/board_config.h b/boards/ark/fmu-v6x/src/board_config.h
index 752caf497ed..1317d426680 100644
--- a/boards/ark/fmu-v6x/src/board_config.h
+++ b/boards/ark/fmu-v6x/src/board_config.h
@@ -125,6 +125,7 @@
 /* SPI */
 
 #define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
+#define SPI6_RESET(on_true)          px4_arch_gpiowrite(SPI6_nRESET_EXTERNAL1, !(on_true))
 
 /* I2C busses */
 
@@ -309,7 +310,6 @@
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
 #define VDD_3V3_ETH_POWER_EN(on_true)      px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
 
-
 /* Tone alarm output */
 
 #define TONE_ALARM_TIMER        14  /* Timer 14 */
diff --git a/boards/ark/fmu-v6x/src/init.c b/boards/ark/fmu-v6x/src/init.c
index fddc066d1e3..56c94f805b1 100644
--- a/boards/ark/fmu-v6x/src/init.c
+++ b/boards/ark/fmu-v6x/src/init.c
@@ -110,6 +110,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
+	SPI6_RESET(true);
 
 	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
 	/* Keep Spektum on to discharge rail*/
@@ -128,6 +129,8 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
+	/* Release SPI6 Reset */
+	SPI6_RESET(false);
 }
 
 /************************************************************************************
@@ -217,6 +220,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SENSORS4_EN(true);
 	VDD_3V3_SPEKTRUM_POWER_EN(true);
 
+	SPI6_RESET(false);
+
 	/* Need hrt running before using the ADC */
 
 	px4_platform_init();