diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index c4f9e3a110..e9ffa7a06f 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -18,10 +18,40 @@
 #define HAL_BOARD_FLYMAPLE 6
 #define HAL_BOARD_LINUX    7
 #define HAL_BOARD_VRBRAIN  8
-#define HAL_BOARD_ERLE     9
 #define HAL_BOARD_EMPTY    99
 
 
+/**
+   HAL Linux sub-types
+ */
+#define HAL_BOARD_SUBTYPE_LINUX_NONE 0
+#define HAL_BOARD_SUBTYPE_LINUX_ERLE 1
+#define HAL_BOARD_SUBTYPE_LINUX_PXF  2
+
+// InertialSensor driver types
+#define HAL_INS_OILPAN  1
+#define HAL_INS_MPU6000 2
+#define HAL_INS_HIL     3
+#define HAL_INS_PX4     4
+#define HAL_INS_FLYMAPLE 5
+#define HAL_INS_L3G4200D 6
+#define HAL_INS_VRBRAIN  7
+#define HAL_INS_MPU9250  8
+
+// barometer driver types
+#define HAL_BARO_BMP085     1
+#define HAL_BARO_MS5611     2
+#define HAL_BARO_MS5611_SPI 3
+#define HAL_BARO_PX4        4
+#define HAL_BARO_HIL        5
+#define HAL_BARO_VRBRAIN    6
+
+// compass driver types
+#define HAL_COMPASS_HMC5843   1
+#define HAL_COMPASS_PX4       2
+#define HAL_COMPASS_HIL       3
+#define HAL_COMPASS_VRBRAIN   4
+
 /**
    CPU classes, used to select if CPU intensive algorithms should be used
 
@@ -57,6 +87,9 @@
 #define HAL_CPU_CLASS HAL_CPU_CLASS_16
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#define HAL_INS_DEFAULT HAL_INS_OILPAN
+#define HAL_BARO_DEFAULT HAL_BARO_BMP085
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
 #define AP_HAL_BOARD_DRIVER AP_HAL_AVR_APM2
@@ -64,6 +97,13 @@
 #define HAL_CPU_CLASS HAL_CPU_CLASS_16
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#define HAL_INS_DEFAULT HAL_INS_MPU6000
+#ifdef APM2_BETA_HARDWARE
+#define HAL_BARO_DEFAULT HAL_BARO_BMP085
+#else
+#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
+#endif
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 #define AP_HAL_BOARD_DRIVER AP_HAL_AVR_SITL
@@ -72,6 +112,10 @@
 #define HAL_OS_POSIX_IO 1
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#define HAL_BOARD_LOG_DIRECTORY "logs"
+#define HAL_INS_DEFAULT HAL_INS_HIL
+#define HAL_BARO_DEFAULT HAL_BARO_HIL
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
 #define AP_HAL_BOARD_DRIVER AP_HAL_FLYMAPLE
@@ -79,6 +123,10 @@
 #define HAL_CPU_CLASS HAL_CPU_CLASS_75
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#define HAL_INS_DEFAULT HAL_INS_FLYMAPLE
+#define HAL_BARO_DEFAULT HAL_BARO_BMP085
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
+#define HAL_SERIAL0_BAUD_DEFAULT 115200
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
 #define AP_HAL_BOARD_DRIVER AP_HAL_PX4
@@ -87,6 +135,11 @@
 #define HAL_OS_POSIX_IO 1
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
+#define HAL_INS_DEFAULT HAL_INS_PX4
+#define HAL_BARO_DEFAULT HAL_BARO_PX4
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
+#define HAL_SERIAL0_BAUD_DEFAULT 115200
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #define AP_HAL_BOARD_DRIVER AP_HAL_Linux
@@ -95,14 +148,17 @@
 #define HAL_OS_POSIX_IO 1
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
-
-#elif CONFIG_HAL_BOARD == HAL_BOARD_ERLE
-#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
-#define HAL_BOARD_NAME "Erle Linux"
-#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
-#define HAL_OS_POSIX_IO 1
-#define HAL_STORAGE_SIZE            4096
-#define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
+#define HAL_BOARD_LOG_DIRECTORY "logs"
+#define HAL_INS_DEFAULT HAL_INS_HIL
+#define HAL_BARO_DEFAULT HAL_BARO_HIL
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
+#define HAL_INS_DEFAULT HAL_INS_MPU9250
+#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_HMC5843
+#endif
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
 #define AP_HAL_BOARD_DRIVER AP_HAL_Empty
@@ -110,6 +166,9 @@
 #define HAL_CPU_CLASS HAL_CPU_CLASS_16
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#define HAL_INS_DEFAULT HAL_INS_HIL
+#define HAL_BARO_DEFAULT HAL_BARO_HIL
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
 
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 #define AP_HAL_BOARD_DRIVER AP_HAL_VRBRAIN
@@ -118,6 +177,11 @@
 #define HAL_OS_POSIX_IO 1
 #define HAL_STORAGE_SIZE            4096
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
+#define HAL_BOARD_LOG_DIRECTORY "/fs/microsd/APM/LOGS"
+#define HAL_INS_DEFAULT HAL_INS_PX4
+#define HAL_BARO_DEFAULT HAL_BARO_PX4
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4
+#define HAL_SERIAL0_BAUD_DEFAULT 115200
 
 #else
 #error "Unknown CONFIG_HAL_BOARD type"