diff --git a/boards/ark/septentrio-gps/default.px4board b/boards/ark/septentrio-gps/default.px4board
index b62a95d689..7600200577 100644
--- a/boards/ark/septentrio-gps/default.px4board
+++ b/boards/ark/septentrio-gps/default.px4board
@@ -1,13 +1,13 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
diff --git a/boards/ark/septentrio-gps/init/rc.board_sensors b/boards/ark/septentrio-gps/init/rc.board_sensors
index 43e4e6c506..a41dd7b070 100644
--- a/boards/ark/septentrio-gps/init/rc.board_sensors
+++ b/boards/ark/septentrio-gps/init/rc.board_sensors
@@ -8,4 +8,7 @@ icm42688p -R 0 -s start
 
 bmp388 -I -b 1 start
 
-bmm150 -I -b 1 start
+if ! iis2mdc -R 4 -I -b 1 start
+then
+	bmm150 -I -b 1 start
+fi