diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors
index 4fa0c9151ba9..8d9391890583 100644
--- a/boards/px4/fmu-v5/init/rc.board_sensors
+++ b/boards/px4/fmu-v5/init/rc.board_sensors
@@ -22,6 +22,13 @@ hmc5883 -C -T -X start
 qmc5883 -X start
 lis3mdl -X start
 
+# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
+if ! icm20948 -X -M -R 6 start
+then
+	# external emulated AK09916 (Here2) is rotated 270 degrees yaw
+	ak09916 -X -R 6 start
+fi
+
 # Possible internal compass
 ist8310 -C -b 5 start