diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 7c91cda54d..73e0d1d05d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -131,6 +131,36 @@ then
 	fi
 fi
 
+if ver hwcmp PX4_SAME70XPLAINED_V1
+then
+	# External I2C bus
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+	set BOARD_FMUV3 false
+
+	# Internal SPI bus mpu9250 is rotated 90 deg yaw
+	if mpu9250 -R 2 start
+	then
+	fi
+fi
+
+if ver hwcmp PX4_SAME70XPLAINED_V1
+then
+	# External I2C bus
+	if hmc5883 -C -T -X start
+	then
+	fi
+
+	set BOARD_FMUV3 false
+
+	# Internal SPI bus mpu9250 is rotated 90 deg yaw
+	if mpu9250 -R 2 start
+	then
+	fi
+fi
+
 if ver hwcmp PX4FMU_V4
 then
 	# External I2C bus
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 79d5bc2d1b..c2a6b6850c 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -405,7 +405,12 @@ then
 		sensors start -h
 		commander start --hil
 	else
-		gps start
+		if ver hwcmp PX4_SAME70XPLAINED_V1
+		then
+			gps start -d /dev/ttyS2
+		else
+			gps start
+		fi
 		sh /etc/init.d/rc.sensors
 		commander start
 	fi
@@ -421,29 +426,33 @@ then
 		set OUTPUT_MODE uavcan_esc
 	fi
 
-	# Sensors on the PWM interface bank
-	if param compare SENS_EN_LL40LS 1
+	if ver hwcmp PX4_SAME70XPLAINED_V1
 	then
-		# clear pins 5 and 6
-		set FMU_MODE pwm4
-		set AUX_MODE pwm4
-	fi
-	if param greater TRIG_MODE 0
-	then
-		# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
-		if param compare TRIG_PINS 56
+	else
+		# Sensors on the PWM interface bank
+		if param compare SENS_EN_LL40LS 1
 		then
 			# clear pins 5 and 6
 			set FMU_MODE pwm4
 			set AUX_MODE pwm4
-		else
-			set FMU_MODE none
-			set AUX_MODE none
 		fi
-		camera_trigger start
+		if param greater TRIG_MODE 0
+		then
+			# We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output
+			if param compare TRIG_PINS 56
+			then
+				# clear pins 5 and 6
+				set FMU_MODE pwm4
+				set AUX_MODE pwm4
+			else
+				set FMU_MODE none
+				set AUX_MODE none
+			fi
+			camera_trigger start
 
-		param set CAM_FBACK_MODE 1
-		camera_feedback start
+			param set CAM_FBACK_MODE 1
+			camera_feedback start
+		fi
 	fi
 
 	# If OUTPUT_MODE == none then something is wrong with setup and we shouldn't try to enable output