diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
index 164da76447e7c227d2019513dbc6bec7f9063728..b4f3ddb6b6369c9d06124276563f09e33d868a2a 100644
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -12,6 +12,7 @@ px4_add_board(
SERIAL_PORTS
GPS1:/dev/ttyS3
TEL1:/dev/ttyS4
+ TEL2:/dev/ttyS1
DRIVERS
barometer # all available barometer drivers
diff --git a/boards/nxp/fmuk66-v3/init/rc.board_sensors b/boards/nxp/fmuk66-v3/init/rc.board_sensors
index da1032b79c4d1bd9caf21d699ebceeb2025b753d..b861181612583899d4773a6ec1392d401ada724e 100644
--- a/boards/nxp/fmuk66-v3/init/rc.board_sensors
+++ b/boards/nxp/fmuk66-v3/init/rc.board_sensors
@@ -7,14 +7,19 @@
# External I2C bus
hmc5883 -C -X start
+# Internal Mag I2C bus
+echo "error! bmm150 roatation needs to be set"
+bmm150 -R 2 start
+
# Possible external compasses
-ist8310 -C -b 2 start
+ist8310 -C -b 1 start
# External I2C bus
lis3mdl -X start
-# Onboard I2C (baro) but an external bus on V3 RC15
-mpl3115a2 -X start
+# Onboard I2C baros
+bmp280 -I start
+mpl3115a2 -I start
# Internal SPI (accel + mag)
fxos8701cq start -R 0
diff --git a/boards/nxp/fmuk66-v3/src/board_config.h b/boards/nxp/fmuk66-v3/src/board_config.h
index e1dcf7b1ad5560f88c705a27a75d8ab1c8058342..0c50ba58ca63dff10191a27068d0bf00d49aaa37 100644
--- a/boards/nxp/fmuk66-v3/src/board_config.h
+++ b/boards/nxp/fmuk66-v3/src/board_config.h
@@ -83,11 +83,11 @@ __BEGIN_DECLS
/* UART tty Mapping
* Device tty alt Connector Name
* ------- ---------- -------------- --------- -------------------------
- * LPUART0 /dev/tty0 /dev/console P16 DCD-Mini
- * UART0 /dev/tty1 --- P7 IR transmitter & receiver
- * UART1 /dev/tty2 --- P14,P15 SERIAL4/FrSky, RC_IN
- * UART2 /dev/tty3 --- P3 GPS connector
- * UART4 /dev/tty4 --- P10 UART (Bluetooth)
+ * LPUART0 /dev/tty0 /dev/console J16 DCD-Mini
+ * UART0 /dev/tty1 --- J7 SERIAL 2 / TELEMETRY 2 / IRDA
+ * UART1 /dev/tty2 --- J15 SERIAL4/FrSky, RC_IN
+ * UART2 /dev/tty3 --- J3 GPS connector
+ * UART4 /dev/tty4 --- J10 SERIAL 1 / TELEMETRY 1
*/
/* High-resolution timer */
@@ -211,6 +211,7 @@ __BEGIN_DECLS
#define GPIO_SPI_CS_MEMORY (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN2)
#define GPIO_SPI_CS_FXAS21002CQ_GYRO (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN9)
#define GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN10)
+#define GPIO_SPI1_CS_CALMEM (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTA | PIN19)
#define GPIO_SPI2_CS (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTB | PIN20)
#define GPIO_SPI2_EXT (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE | PIN_PORTD | PIN15)
@@ -240,9 +241,10 @@ __BEGIN_DECLS
#define PX4_SPIDEV_ACCEL_MAG PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,0)
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,1)
-#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG, GPIO_SPI_CS_FXAS21002CQ_GYRO}
+#define PX4_SPIDEV_CALMEM PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS,2)
+#define PX4_SENSOR_BUS_CS_GPIO {GPIO_SPI_CS_FXOS8700CQ_ACCEL_MAG, GPIO_SPI_CS_FXAS21002CQ_GYRO, GPIO_SPI1_CS_CALMEM}
#define PX4_SENSOR_BUS_FIRST_CS PX4_SPIDEV_ACCEL_MAG
-#define PX4_SENSOR_BUS_LAST_CS PX4_SPIDEV_GYRO
+#define PX4_SENSOR_BUS_LAST_CS PX4_SPIDEV_CALMEM
#define PX4_SPIDEV_EXTERNAL1 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,0)
#define PX4_SPIDEV_EXTERNAL2 PX4_MK_SPI_SEL(PX4_SPI_BUS_EXTERNAL,1)
@@ -258,10 +260,13 @@ __BEGIN_DECLS
/* I2C busses */
+#define PX4_I2C_BUS_ONBOARD PX4_BUS_NUMBER_TO_PX4(1)
#define PX4_I2C_BUS_EXPANSION PX4_BUS_NUMBER_TO_PX4(0)
-#define PX4_I2C_BUS_EXPANSION1 PX4_BUS_NUMBER_TO_PX4(1) // V3 RC15 has mpl3115a2 on onboard but this goes to a connector
-// So it is treated as external.
-#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION1
+
+
+#define PX4_I2C_BUS_LED PX4_I2C_BUS_EXPANSION
+
+#define PX4_I2C_OBDEV_BMP280 0x76
/*
* ADC channels