diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 98bd1c58e8..2c6c569876 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -295,7 +295,7 @@ then
 	then
 	fi
 
-	if mpu6500 -R 14 start
+	if mpu9250 -s -R 14 start
 	then
 	fi
 
diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index 1b3459168f..78be0ee075 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -16,7 +16,7 @@ set(config_module_list
 	drivers/px4fmu
 	drivers/boards/aerofc-v1
 	drivers/tap_esc
-	drivers/mpu6500
+	drivers/mpu9250
 	drivers/ms5611
 	drivers/hmc5883
 	drivers/gps