diff --git a/c/include/libsbp/imu_macros.h b/c/include/libsbp/imu_macros.h
index 0bc2ae7541..4437d05e1a 100644
--- a/c/include/libsbp/imu_macros.h
+++ b/c/include/libsbp/imu_macros.h
@@ -77,6 +77,7 @@
 #define SBP_IMU_AUX_IMU_TYPE_BOSCH_BMI160 (0)
 #define SBP_IMU_AUX_IMU_TYPE_ST_MICROELECTRONICS_ASM330LLH (1)
 #define SBP_IMU_AUX_IMU_TYPE_MURATA_SCHA634_D03 (4)
+#define SBP_IMU_AUX_IMU_TYPE_TDK_IAM_20680HP (5)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_MASK (0xfu)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_SHIFT (4u)
 #define SBP_IMU_AUX_GYROSCOPE_RANGE_GET(flags)               \
diff --git a/docs/sbp.pdf b/docs/sbp.pdf
index ec6286ef8a..bcc0a01c67 100644
Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ
diff --git a/rust/sbp/src/messages/imu.rs b/rust/sbp/src/messages/imu.rs
index 3aea3dd882..69e8dc536d 100644
--- a/rust/sbp/src/messages/imu.rs
+++ b/rust/sbp/src/messages/imu.rs
@@ -164,6 +164,9 @@ pub mod msg_imu_aux {
 
         /// Murata SCHA634-D03
         MurataScha634D03 = 4,
+
+        /// TDK IAM-20680HP
+        TdkIam20680Hp = 5,
     }
 
     impl std::fmt::Display for ImuType {
@@ -174,6 +177,7 @@ pub mod msg_imu_aux {
                     f.write_str("ST Microelectronics ASM330LLH")
                 }
                 ImuType::MurataScha634D03 => f.write_str("Murata SCHA634-D03"),
+                ImuType::TdkIam20680Hp => f.write_str("TDK IAM-20680HP"),
             }
         }
     }
@@ -185,6 +189,7 @@ pub mod msg_imu_aux {
                 0 => Ok(ImuType::BoschBmi160),
                 1 => Ok(ImuType::StMicroelectronicsAsm330Llh),
                 4 => Ok(ImuType::MurataScha634D03),
+                5 => Ok(ImuType::TdkIam20680Hp),
                 i => Err(i),
             }
         }
diff --git a/spec/yaml/swiftnav/sbp/imu.yaml b/spec/yaml/swiftnav/sbp/imu.yaml
index 6b1a87c279..8fca2949e4 100644
--- a/spec/yaml/swiftnav/sbp/imu.yaml
+++ b/spec/yaml/swiftnav/sbp/imu.yaml
@@ -87,6 +87,7 @@ definitions:
                       - 0: Bosch BMI160
                       - 1: ST Microelectronics ASM330LLH
                       - 4: Murata SCHA634-D03
+                      - 5: TDK IAM-20680HP
         - temp:
             type: s16
             desc: Raw IMU temperature