diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index bc7787e129..c235f38142 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -31,8 +31,8 @@ else
 	# External SPI
 	ms5611 -S start
 
-	# Internal SPI
-	ms5611 -s start
+	# Internal SPI (auto detect ms5611 or ms5607)
+	ms5611 -T 0 -s start
 
 	# Blacksheep telemetry
 	bst start
@@ -136,9 +136,9 @@ then
 		then
 			# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
 			mpu6000 -R 14 start
+
 			# v2.0 Has internal hmc5883 on SPI1
 			hmc5883 -C -T -S -R 8 start
-
 		fi
 
 		if [ $BOARD_FMUV3 == 21 ]
@@ -165,6 +165,8 @@ then
 		l3gd20 start
 		lsm303d start
 	fi
+
+	unset BOARD_FMUV3
 fi
 
 if ver hwcmp PX4_SAME70XPLAINED_V1