diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
index a933f5a215..555b420123 100644
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
diff --git a/boards/px4/fmu-v4/init/rc.board_sensors b/boards/px4/fmu-v4/init/rc.board_sensors
index 125b3a0d27..0a9f2c0d1c 100644
--- a/boards/px4/fmu-v4/init/rc.board_sensors
+++ b/boards/px4/fmu-v4/init/rc.board_sensors
@@ -43,15 +43,11 @@ fi
 # will prevent the incorrect driver from a successful initialization.
 
 # ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
-if ! mpu6000 -R 2 -T 20602 start
+if ! icm20602 -R 8 start
 then
 	# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	mpu6000 -R 2 -T 20608 start
+	icm20608g -R 8 start
 fi
 
-# new sensor drivers (in testing)
-#icm20602 -R 8 start
-#icm20608g -R 8 start
-
 # mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
 mpu9250 -R 2 start
diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake
index 5b0eaef93d..e7fca789ca 100644
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake
index a264e22ad5..8e8ca4a9db 100644
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
index 9c2ba33362..56fe1bdcbf 100644
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
diff --git a/boards/px4/fmu-v4pro/init/rc.board_sensors b/boards/px4/fmu-v4pro/init/rc.board_sensors
index 433b7ca51b..82aeeda7e7 100644
--- a/boards/px4/fmu-v4pro/init/rc.board_sensors
+++ b/boards/px4/fmu-v4pro/init/rc.board_sensors
@@ -6,10 +6,10 @@
 adc start
 
 # Internal SPI bus ICM-20608-G
-mpu6000 -R 2 -T 20608 start
+icm20608g -R 8 start
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 2 -T 20602 start
+icm20602 -R 8 start
 
 # Internal SPI bus mpu9250
 mpu9250 -R 2 start
diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
index 438173542f..49cb5ed27f 100644
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm