diff --git a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
index d189aa253aecac8cc6e1942ccb948db5c7b3c4c2..74de72857e448c0da73ccddea7d91a4d0fb74998 100644
--- a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
+++ b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/bsp.cpp
@@ -1,5 +1,5 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Authors: Alberto Nidasio, Davide Mor
+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Davide Mor, Fabrizio Monti
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
@@ -314,9 +314,12 @@ void IRQbspInit()
     sensors::LIS2MDL::cs::high();
     sensors::H3LIS331DL::cs::mode(Mode::OUTPUT);
     sensors::H3LIS331DL::cs::high();
-    sensors::LSM6DSRX::cs::mode(Mode::OUTPUT);
-    sensors::LSM6DSRX::cs::high();
-    // TODO: are there other sensors?
+    sensors::LSM6DSRX0::cs::mode(Mode::OUTPUT);
+    sensors::LSM6DSRX0::cs::high();
+    sensors::LSM6DSRX1::cs::mode(Mode::OUTPUT);
+    sensors::LSM6DSRX1::cs::high();
+    sensors::thermocouple::cs::mode(Mode::OUTPUT);
+    sensors::thermocouple::cs::high();
 
     gpios::boardLed::mode(Mode::OUTPUT);
     gpios::boardLed::low();
diff --git a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
index 0a4b7bb930277d33f95d501f1700b7b6dc302221..086228108f5a4f559d0d320e5de688c675cc3019 100644
--- a/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
+++ b/src/bsps/stm32f767zi_orion_engine/interfaces-impl/hwmapping.h
@@ -30,11 +30,6 @@
 #define MIOSIX_SENSOR_LIS2MDL_SPI SPI3
 #define MIOSIX_SENSOR_ADS131M08_SPI SPI4
 
-#define MIOSIX_SERVOS_1_TIM TIM3
-#define MIOSIX_SERVOS_1_CHANNEL CHANNEL_1
-#define MIOSIX_SERVOS_2_TIM TIM1
-#define MIOSIX_SERVOS_2_CHANNEL CHANNEL_1
-
 namespace miosix
 {
 
@@ -127,11 +122,21 @@ namespace H3LIS331DL
 using cs = Gpio<GPIOB_BASE, 7>;
 }
 
-namespace LSM6DSRX
+namespace LSM6DSRX0
 {
 using cs = Gpio<GPIOG_BASE, 12>;
 }
 
+namespace LSM6DSRX1
+{
+using cs = Gpio<GPIOG_BASE, 11>;
+}
+
+namespace thermocouple
+{
+using cs = Gpio<GPIOD_BASE, 11>;
+}
+
 }  // namespace sensors
 
 namespace adcs
@@ -140,6 +145,33 @@ using vbat     = miosix::interfaces::adcs::adc12in14;
 using servoCur = miosix::interfaces::adcs::adc12in9;
 }  // namespace adcs
 
+namespace servos
+{
+#define MIOSIX_SERVOS_0_TIM TIM3
+#define MIOSIX_SERVOS_0_CHANNEL CHANNEL_1
+using servo0 = miosix::interfaces::timers::tim3ch1;
+
+#define MIOSIX_SERVOS_1_TIM TIM1
+#define MIOSIX_SERVOS_1_CHANNEL CHANNEL_1
+using servo1 = miosix::interfaces::timers::tim1ch1;
+
+#define MIOSIX_SERVOS_2_TIM TIM8
+#define MIOSIX_SERVOS_2_CHANNEL CHANNEL_2
+using servo2 = miosix::interfaces::timers::tim8ch2;
+
+#define MIOSIX_SERVOS_3_TIM TIM9
+#define MIOSIX_SERVOS_3_CHANNEL CHANNEL_1
+using servo3 = miosix::interfaces::timers::tim9ch1;
+
+#define MIOSIX_SERVOS_4_TIM TIM11
+#define MIOSIX_SERVOS_4_CHANNEL CHANNEL_1
+using servo4 = miosix::interfaces::timers::tim11ch1;
+
+#define MIOSIX_SERVOS_5_TIM TIM4
+#define MIOSIX_SERVOS_5_CHANNEL CHANNEL_1
+using servo5 = miosix::interfaces::timers::tim4ch1;
+}  // namespace servos
+
 namespace gpios
 {
 using boardLed = Gpio<GPIOC_BASE, 5>;