diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 10e1c54e76..167c8e17c0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -73,6 +73,11 @@ then
 	then
 	fi
 
+	# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+	if mpu6000 -R 2 -T 20602 start
+	then
+	fi
+
 	# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
 	if mpu6000 -R 2 -T 20608 start
 	then
diff --git a/src/drivers/boards/auav-x21/auav_spi.c b/src/drivers/boards/auav-x21/auav_spi.c
index 3c2fe711c0..75681dfe3b 100644
--- a/src/drivers/boards/auav-x21/auav_spi.c
+++ b/src/drivers/boards/auav-x21/auav_spi.c
@@ -94,13 +94,13 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
 
 	switch (devid) {
 
-		/* intended fallthrough */
+	/* intended fallthrough */
 	case PX4_SPIDEV_ICM_20602:
 
-			/* intended fallthrough */
-		case PX4_SPIDEV_ICM_20608:
-				/* Making sure the other peripherals are not selected */
-				px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
+	/* intended fallthrough */
+	case PX4_SPIDEV_ICM_20608:
+		/* Making sure the other peripherals are not selected */
+		px4_arch_gpiowrite(GPIO_SPI_CS_ICM_2060X, !selected);
 		px4_arch_gpiowrite(GPIO_SPI_CS_BARO, 1);
 		px4_arch_gpiowrite(GPIO_SPI_CS_MPU, 1);
 		break;