diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index a2296222ada..77175863c0a 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -5,6 +5,7 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linu
 add_definitions(
   -D__PX4_POSIX_BEBOP
   -D__LINUX
+  -D__BEBOP
 	)
 
 set(CMAKE_PROGRAM_PATH
@@ -22,6 +23,7 @@ set(config_module_list
 	drivers/device
 	modules/sensors
 	platforms/posix/drivers/df_ms5607_wrapper
+	platforms/posix/drivers/df_mpu6050_wrapper
 
 	#
 	# System commands
@@ -99,4 +101,5 @@ set(config_module_list
 
 set(config_df_driver_list
   ms5607
+  mpu6050
 )
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f9f937a7ff5..52f250396f9 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1017,7 +1017,7 @@ Sensors::parameters_update()
 	DevHandle h_baro;
 	DevMgr::getHandle(BARO0_DEVICE_PATH, h_baro);
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 
 	// TODO: this needs fixing for QURT and Raspberry Pi
 	if (!h_baro.isValid()) {
@@ -1671,7 +1671,7 @@ Sensors::parameter_update_poll(bool forced)
 bool
 Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
@@ -1685,7 +1685,7 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *g
 bool
 Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
@@ -1699,7 +1699,7 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s
 bool
 Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
 	return !h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
@@ -2250,7 +2250,7 @@ Sensors::task_main()
 	/* This calls a sensors_init which can have different implementations on NuttX, POSIX, QURT. */
 	ret = sensors_init();
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI)
+#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 	// TODO: move adc_init into the sensors_init call.
 	ret = ret || adc_init();
 #endif
diff --git a/src/modules/sensors/sensors_init.cpp b/src/modules/sensors/sensors_init.cpp
index 561ee06e276..ae9cf4db861 100644
--- a/src/modules/sensors/sensors_init.cpp
+++ b/src/modules/sensors/sensors_init.cpp
@@ -52,7 +52,7 @@
 
 using namespace DriverFramework;
 
-#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI)
+#if defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
 
 // Sensor initialization is performed automatically when the QuRT sensor drivers
 // are loaded.