diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index f914f489128454c89ecac72ca56fc30671419e00..4fb48e95dab7876db338d679820c3aee9da3e133 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -105,9 +105,6 @@ then
 	teraranger start -a
 fi
 
-# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
-icm20948 -X -M -R 6 start
-
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
diff --git a/boards/px4/fmu-v3/init/rc.board_sensors b/boards/px4/fmu-v3/init/rc.board_sensors
index c42103f7d4e034746ab39adec0c10f9af0b8cd18..0cabab7d28801148b6f27635ec6cf9b55cc4c4f1 100644
--- a/boards/px4/fmu-v3/init/rc.board_sensors
+++ b/boards/px4/fmu-v3/init/rc.board_sensors
@@ -59,6 +59,9 @@ then
 	# sensor heating is available, but we disable it for now
 	param set SENS_EN_THERMAL 0
 
+	# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
+	icm20948 -X -M -R 6 start
+
 	# external L3GD20H is rotated 180 degrees yaw
 	l3gd20 -X -R 4 start
 
diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
index 7911119cd8ff59f98c3b57463f04b200110e1baa..56203b6961099e22da4baeb2c51567370444d604 100644
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -30,7 +30,6 @@ px4_add_board(
 		imu/adis16497
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/icm20948
 		imu/mpu6000
 		imu/mpu9250
 		irlock
diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake
index 27919988a63647b47a26e8c95aea3ad74a960bc9..57660e82e900dcc7fb47d9abb81dc12e99f70793 100644
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -29,7 +29,6 @@ px4_add_board(
 		imu/adis16448
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/icm20948
 		imu/mpu6000
 		imu/mpu9250
 		irlock
diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake
index 8bdf660c177f9942aae064eac7f9f02ac00d590b..85ac683482b5d746ee5d46de55f868fabd6fb9a9 100644
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -29,7 +29,6 @@ px4_add_board(
 		imu/adis16448
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/icm20948
 		imu/mpu6000
 		imu/mpu9250
 		#irlock