diff --git a/flix/imu.ino b/flix/imu.ino
index 2cc84a2..bd00814 100644
--- a/flix/imu.ino
+++ b/flix/imu.ino
@@ -11,7 +11,7 @@
 #include "util.h"
 
 IMU *imu;
-int imuModel = -1;
+int imuModel = -1; // 1 - MPU9250, 2 - ICM20948, 3 - MPU6050, 4 - ICM40609D
 int imuBus = 0; // 0 - SPI, 1 - I2C
 int imuSckPin = SCK, imuMisoPin = MISO, imuMosiPin = MOSI, imuCsPin = SS, imuIntPin = -1;
 int imuSdaPin = SDA, imuSclPin = SCL;
@@ -29,15 +29,18 @@ LowPassFilter<Vector> gyroBiasFilter(0.001);
 void setupIMU() {
 	print("Setup IMU\n");
 	free(imu);
+	if (imuModel == 3) imuBus = 1; // MPU6050 is I2C only
+
 	if (imuBus == 0) {
 		// SPI connection
-		SPI.begin(imuSckPin, imuMisoPin, imuMosiPin); // SPI connection
+		SPI.begin(imuSckPin, imuMisoPin, imuMosiPin);
 		imu = IMU::create(imuModel, SPI, imuCsPin, imuIntPin);
 	} else {
 		// I2C connection
 		Wire.setPins(imuSdaPin, imuSclPin);
 		imu = IMU::create(imuModel, Wire, imuIntPin);
 	}
+
 	imu->begin();
 	configureIMU();
 }