diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index acf6dbbabe..52df689aa5 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -4,7 +4,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3)
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3)  || defined(HAL_CHIBIOS_ARCH_FMUV4)
 #define AP_FEATURE_BOARD_DETECT 1
 #define AP_FEATURE_SAFETY_BUTTON 1
 #else
diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index dfda824275..3b78ef2aa1 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -209,7 +209,7 @@ void AP_BoardConfig::board_autodetect(void)
     } else {
         sensor_config_error("Unable to detect board type");
     }
-#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4) || defined(HAL_CHIBIOS_ARCH_FMUV4)
     // only one choice
     state.board_type.set_and_notify(PX4_BOARD_PIXRACER);
     hal.console->printf("Detected Pixracer\n");