diff --git a/libraries/AP_HAL_Linux/GPIO.h b/libraries/AP_HAL_Linux/GPIO.h
index 60dab83767..e42cce1d67 100644
--- a/libraries/AP_HAL_Linux/GPIO.h
+++ b/libraries/AP_HAL_Linux/GPIO.h
@@ -4,7 +4,7 @@
 #include "AP_HAL_Linux.h"
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 #include "GPIO_BBB.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
 #include "GPIO_RPI.h"
diff --git a/libraries/AP_HAL_Linux/GPIO_BBB.cpp b/libraries/AP_HAL_Linux/GPIO_BBB.cpp
index ac21b7e20b..011645ed79 100644
--- a/libraries/AP_HAL_Linux/GPIO_BBB.cpp
+++ b/libraries/AP_HAL_Linux/GPIO_BBB.cpp
@@ -1,7 +1,7 @@
 #include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 
 #include "GPIO.h"
@@ -129,5 +129,5 @@ bool LinuxGPIO_BBB::usb_connected(void)
 }
 
 #endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF ||
-       // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE ||
+       // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD ||
        // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
diff --git a/libraries/AP_HAL_Linux/GPIO_BBB.h b/libraries/AP_HAL_Linux/GPIO_BBB.h
index fe33e63e9e..4dfd1086a7 100644
--- a/libraries/AP_HAL_Linux/GPIO_BBB.h
+++ b/libraries/AP_HAL_Linux/GPIO_BBB.h
@@ -25,7 +25,7 @@
 #define LOW             0
 #define HIGH            1
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 #define LINUX_GPIO_NUM_BANKS 4
 #else
 // disable GPIO
diff --git a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
index 3c30d3ffa3..396b81fde6 100644
--- a/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
+++ b/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
@@ -57,7 +57,7 @@ static LinuxStorage storageDriver;
 /*
   use the BBB gpio driver on ERLE, PXF and BBBMINI
  */
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 static LinuxGPIO_BBB gpioDriver;
 /*
   use the RPI gpio driver on Navio
@@ -71,7 +71,7 @@ static Empty::EmptyGPIO gpioDriver;
 /*
   use the PRU based RCInput driver on ERLE and PXF
  */
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
 static LinuxRCInput_PRU rcinDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 static LinuxRCInput_AioPRU rcinDriver;
@@ -88,7 +88,7 @@ static LinuxRCInput rcinDriver;
 /*
   use the PRU based RCOutput driver on ERLE and PXF
  */
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
 static LinuxRCOutput_PRU rcoutDriver;
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 static LinuxRCOutput_AioPRU rcoutDriver;
diff --git a/libraries/AP_HAL_Linux/RCInput_PRU.cpp b/libraries/AP_HAL_Linux/RCInput_PRU.cpp
index 20ae63c3de..cc3b1e2674 100644
--- a/libraries/AP_HAL_Linux/RCInput_PRU.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_PRU.cpp
@@ -1,7 +1,7 @@
 #include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
-    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || \
+    CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 
 #include <stdio.h>
diff --git a/libraries/AP_HAL_Linux/SPIDriver.cpp b/libraries/AP_HAL_Linux/SPIDriver.cpp
index 8cc8cce010..1351d59832 100644
--- a/libraries/AP_HAL_Linux/SPIDriver.cpp
+++ b/libraries/AP_HAL_Linux/SPIDriver.cpp
@@ -23,7 +23,7 @@ extern const AP_HAL::HAL& hal;
 #define MHZ (1000U*1000U)
 #define KHZ (1000U)
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
 LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
     // different SPI tables per board subtype
     LinuxSPIDeviceDriver(1, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17,  10*MHZ,10*MHZ),
diff --git a/libraries/AP_HAL_Linux/Storage.h b/libraries/AP_HAL_Linux/Storage.h
index d4cb455598..18cb476f09 100644
--- a/libraries/AP_HAL_Linux/Storage.h
+++ b/libraries/AP_HAL_Linux/Storage.h
@@ -1,7 +1,7 @@
 #ifndef __AP_HAL_LINUX_STORAGE_H__
 #define __AP_HAL_LINUX_STORAGE_H__
 
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
+#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
 #define LINUX_STORAGE_USE_FRAM 1
 #else
 #define LINUX_STORAGE_USE_FRAM 0