diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 07492ad34e..7a28b249e2 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -97,6 +97,7 @@
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
 #include <AP_HAL_PX4.h>
+#include <AP_HAL_FLYMAPLE.h>
 #include <AP_HAL_Empty.h>
 #include "compat.h"
 
@@ -237,6 +238,8 @@ AP_InertialSensor_MPU6000 ins;
 AP_InertialSensor_PX4 ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_STUB
 AP_InertialSensor_Stub ins;
+#elif CONFIG_INS_TYPE == CONFIG_INS_FLYMAPLE
+AP_InertialSensor_Flymaple ins;
 #elif CONFIG_INS_TYPE == CONFIG_INS_OILPAN
 AP_InertialSensor_Oilpan ins( &adc );
 #else
diff --git a/APMrover2/config.h b/APMrover2/config.h
index 4238795d69..edf8a73466 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -77,6 +77,11 @@
 # define CONFIG_COMPASS  AP_COMPASS_PX4
 # define BATTERY_PIN_1	  -1
 # define CURRENT_PIN_1	  -1
+#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
+# define CONFIG_INS_TYPE   CONFIG_INS_FLYMAPLE
+# define CONFIG_COMPASS  AP_COMPASS_HMC5843
+# define BATTERY_PIN_1     20
+# define CURRENT_PIN_1	   19
 #endif
 
 //////////////////////////////////////////////////////////////////////////////