diff --git a/Images/px4fmu-v3.prototype b/Images/px4fmu-v4.prototype
similarity index 68%
rename from Images/px4fmu-v3.prototype
rename to Images/px4fmu-v4.prototype
index ada86b9a93..24e72f868d 100644
--- a/Images/px4fmu-v3.prototype
+++ b/Images/px4fmu-v4.prototype
@@ -1,10 +1,10 @@
 {
     "board_id": 11,
     "magic": "PX4FWv1",
-    "description": "Firmware for the PX4FMUv3 board",
+    "description": "Firmware for the PX4FMUv4 board",
     "image": "",
     "build_time": 0,
-    "summary": "PX4FMUv3",
+    "summary": "PX4FMUv4",
     "version": "0.1",
     "image_size": 0,
     "git_identity": "",
diff --git a/Makefile b/Makefile
index 61582fc296..cb7c7fbc8e 100644
--- a/Makefile
+++ b/Makefile
@@ -130,8 +130,8 @@ px4fmu-v1_default:
 px4fmu-v2_default:
 	$(call cmake-build,nuttx_px4fmu-v2_default)
 
-px4fmu-v3_default:
-	$(call cmake-build,nuttx_px4fmu-v3_default)
+px4fmu-v4_default:
+	$(call cmake-build,nuttx_px4fmu-v4_default)
 
 px4fmu-v2_simple:
 	$(call cmake-build,nuttx_px4fmu-v2_simple)
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
similarity index 99%
rename from cmake/configs/nuttx_px4fmu-v3_default.cmake
rename to cmake/configs/nuttx_px4fmu-v4_default.cmake
index 82f4c1b9a7..cc1db95eef 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -12,7 +12,7 @@ set(config_module_list
 	drivers/stm32/tone_alarm
 	drivers/led
 	drivers/px4fmu
-	drivers/boards/px4fmu-v3
+	drivers/boards/px4fmu-v4
 	drivers/rgbled
 	drivers/mpu9250
 	drivers/hmc5883
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index e54276b099..79de5c3939 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -458,7 +458,7 @@ function(px4_os_add_flags)
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
-	elseif (${BOARD} STREQUAL "px4fmu-v3")
+	elseif (${BOARD} STREQUAL "px4fmu-v4")
 		set(cpu_flags
 			-mcpu=cortex-m4
 			-mthumb
diff --git a/nuttx-configs/px4fmu-v3/include/board.h b/nuttx-configs/px4fmu-v4/include/board.h
similarity index 100%
rename from nuttx-configs/px4fmu-v3/include/board.h
rename to nuttx-configs/px4fmu-v4/include/board.h
diff --git a/nuttx-configs/px4fmu-v3/include/nsh_romfsimg.h b/nuttx-configs/px4fmu-v4/include/nsh_romfsimg.h
similarity index 100%
rename from nuttx-configs/px4fmu-v3/include/nsh_romfsimg.h
rename to nuttx-configs/px4fmu-v4/include/nsh_romfsimg.h
diff --git a/nuttx-configs/px4fmu-v3/nsh/Make.defs b/nuttx-configs/px4fmu-v4/nsh/Make.defs
similarity index 100%
rename from nuttx-configs/px4fmu-v3/nsh/Make.defs
rename to nuttx-configs/px4fmu-v4/nsh/Make.defs
diff --git a/nuttx-configs/px4fmu-v3/nsh/appconfig b/nuttx-configs/px4fmu-v4/nsh/appconfig
similarity index 100%
rename from nuttx-configs/px4fmu-v3/nsh/appconfig
rename to nuttx-configs/px4fmu-v4/nsh/appconfig
diff --git a/nuttx-configs/px4fmu-v3/nsh/defconfig b/nuttx-configs/px4fmu-v4/nsh/defconfig
similarity index 99%
rename from nuttx-configs/px4fmu-v3/nsh/defconfig
rename to nuttx-configs/px4fmu-v4/nsh/defconfig
index 957578233b..551a9cd4ff 100644
--- a/nuttx-configs/px4fmu-v3/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v4/nsh/defconfig
@@ -384,7 +384,7 @@ CONFIG_BOOT_RUNFROMFLASH=y
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V3=y
+CONFIG_ARCH_BOARD_PX4FMU_V4=y
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD=""
 
diff --git a/nuttx-configs/px4fmu-v3/nsh/setenv.sh b/nuttx-configs/px4fmu-v4/nsh/setenv.sh
similarity index 100%
rename from nuttx-configs/px4fmu-v3/nsh/setenv.sh
rename to nuttx-configs/px4fmu-v4/nsh/setenv.sh
diff --git a/nuttx-configs/px4fmu-v3/scripts/ld.script b/nuttx-configs/px4fmu-v4/scripts/ld.script
similarity index 100%
rename from nuttx-configs/px4fmu-v3/scripts/ld.script
rename to nuttx-configs/px4fmu-v4/scripts/ld.script
diff --git a/nuttx-configs/px4fmu-v3/src/Makefile b/nuttx-configs/px4fmu-v4/src/Makefile
similarity index 100%
rename from nuttx-configs/px4fmu-v3/src/Makefile
rename to nuttx-configs/px4fmu-v4/src/Makefile
diff --git a/nuttx-configs/px4fmu-v3/src/empty.c b/nuttx-configs/px4fmu-v4/src/empty.c
similarity index 100%
rename from nuttx-configs/px4fmu-v3/src/empty.c
rename to nuttx-configs/px4fmu-v4/src/empty.c
diff --git a/src/drivers/boards/px4fmu-v3/CMakeLists.txt b/src/drivers/boards/px4fmu-v4/CMakeLists.txt
similarity index 96%
rename from src/drivers/boards/px4fmu-v3/CMakeLists.txt
rename to src/drivers/boards/px4fmu-v4/CMakeLists.txt
index e83c7fd7fd..b16a991331 100644
--- a/src/drivers/boards/px4fmu-v3/CMakeLists.txt
+++ b/src/drivers/boards/px4fmu-v4/CMakeLists.txt
@@ -31,16 +31,16 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__boards__px4fmu-v3
+	MODULE drivers__boards__px4fmu-v4
 	COMPILE_FLAGS
 		-Os
 	SRCS
 		px4fmu_can.c
-		px4fmu3_init.c
+		px4fmu_init.c
 		px4fmu_pwm_servo.c
 		px4fmu_spi.c
 		px4fmu_usb.c
-		px4fmu3_led.c
+		px4fmu_led.c
 	DEPENDS
 		platforms__common
 	)
diff --git a/src/drivers/boards/px4fmu-v3/board_config.h b/src/drivers/boards/px4fmu-v4/board_config.h
similarity index 100%
rename from src/drivers/boards/px4fmu-v3/board_config.h
rename to src/drivers/boards/px4fmu-v4/board_config.h
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_can.c b/src/drivers/boards/px4fmu-v4/px4fmu_can.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v3/px4fmu_can.c
rename to src/drivers/boards/px4fmu-v4/px4fmu_can.c
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu3_init.c b/src/drivers/boards/px4fmu-v4/px4fmu_init.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v3/px4fmu3_init.c
rename to src/drivers/boards/px4fmu-v4/px4fmu_init.c
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu3_led.c b/src/drivers/boards/px4fmu-v4/px4fmu_led.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v3/px4fmu3_led.c
rename to src/drivers/boards/px4fmu-v4/px4fmu_led.c
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_pwm_servo.c b/src/drivers/boards/px4fmu-v4/px4fmu_pwm_servo.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v3/px4fmu_pwm_servo.c
rename to src/drivers/boards/px4fmu-v4/px4fmu_pwm_servo.c
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_spi.c b/src/drivers/boards/px4fmu-v4/px4fmu_spi.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v3/px4fmu_spi.c
rename to src/drivers/boards/px4fmu-v4/px4fmu_spi.c
diff --git a/src/drivers/boards/px4fmu-v3/px4fmu_usb.c b/src/drivers/boards/px4fmu-v4/px4fmu_usb.c
similarity index 100%
rename from src/drivers/boards/px4fmu-v3/px4fmu_usb.c
rename to src/drivers/boards/px4fmu-v4/px4fmu_usb.c
diff --git a/src/drivers/drv_gpio.h b/src/drivers/drv_gpio.h
index c5894be9e7..971c22b2d4 100644
--- a/src/drivers/drv_gpio.h
+++ b/src/drivers/drv_gpio.h
@@ -94,7 +94,7 @@
 
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V3
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
 /*
  * PX4FMUv3 GPIO numbers.
  *
@@ -144,7 +144,7 @@
 #if !defined(CONFIG_ARCH_BOARD_PX4IO_V1) && !defined(CONFIG_ARCH_BOARD_PX4IO_V2)  && \
 	!defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && !defined(CONFIG_ARCH_BOARD_PX4FMU_V2) && \
 	!defined(CONFIG_ARCH_BOARD_AEROCORE) && !defined(CONFIG_ARCH_BOARD_PX4_STM32F4DISCOVERY) && \
-	!defined(CONFIG_ARCH_BOARD_PX4FMU_V3) && !defined(CONFIG_ARCH_BOARD_SITL)
+	!defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && !defined(CONFIG_ARCH_BOARD_SITL)
 # error No CONFIG_ARCH_BOARD_xxxx set
 #endif
 /*
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index a07cc5fd5e..eaf68a3191 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -335,7 +335,7 @@ MEASAirspeed::cycle()
 void
 MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
 {
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 
 	if (_t_system_power == -1) {
 		_t_system_power = orb_subscribe(ORB_ID(system_power));
@@ -389,7 +389,7 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
 	}
 
 	temperature -= voltage_diff * temp_slope;
-#endif // defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+#endif // defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 }
 
 /**
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 5b5dbf3a6f..ae1320b491 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -121,7 +121,7 @@ private:
 #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
 	static const unsigned _max_actuators = 4;
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 	static const unsigned _max_actuators = 6;
 #endif
 #if defined(CONFIG_ARCH_BOARD_AEROCORE)
@@ -232,7 +232,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
 	{GPIO_VDD_5V_HIPOWER_OC, 0,                       0},
 	{GPIO_VDD_5V_PERIPH_OC,  0,                       0},
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 	{GPIO_GPIO0_INPUT,       GPIO_GPIO0_OUTPUT,       0},
 	{GPIO_GPIO1_INPUT,       GPIO_GPIO1_OUTPUT,       0},
 	{GPIO_GPIO2_INPUT,       GPIO_GPIO2_OUTPUT,       0},
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index 43189d29f3..9c6e60947a 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -348,7 +348,7 @@ ADC::update_system_power(void)
 	}
 
 #endif // CONFIG_ARCH_BOARD_PX4FMU_V2
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V3
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
 	system_power_s system_power;
 	system_power.timestamp = hrt_absolute_time();
 
@@ -381,7 +381,7 @@ ADC::update_system_power(void)
 		_to_system_power = orb_advertise(ORB_ID(system_power), &system_power);
 	}
 
-#endif // CONFIG_ARCH_BOARD_PX4FMU_V3
+#endif // CONFIG_ARCH_BOARD_PX4FMU_V4
 }
 
 uint16_t
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index 0f3af2ab8e..9492cec90f 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -51,8 +51,8 @@
 #define	HW_ARCH "PX4FMU_V2"
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V3
-#define	HW_ARCH "PX4FMU_V3"
+#ifdef CONFIG_ARCH_BOARD_PX4FMU_V4
+#define	HW_ARCH "PX4FMU_V4"
 #endif
 
 #ifdef CONFIG_ARCH_BOARD_AEROCORE
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index 302405ce76..531a921b83 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -89,7 +89,7 @@ int gpio_led_main(int argc, char *argv[])
 		     "\t\tr2\tPX4IO RELAY2"
 		    );
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 		errx(1, "usage: gpio_led {start|stop} [-p <n>]\n"
 		     "\t-p <n>\tUse specified AUX OUT pin number (default: 1)"
 		    );
@@ -111,7 +111,7 @@ int gpio_led_main(int argc, char *argv[])
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 			char *pin_name = "PX4FMU GPIO_EXT1";
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 			char pin_name[] = "AUX OUT 1";
 #endif
 
@@ -154,7 +154,7 @@ int gpio_led_main(int argc, char *argv[])
 					}
 
 #endif
-#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V3)
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) || defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 					unsigned int n = strtoul(argv[3], NULL, 10);
 
 					if (n >= 1 && n <= 6) {