diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 39395cd9be..c1c24daa12 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -9,7 +9,7 @@
  * Its not an elegant solution but we can improve it in future.
  */
 
-#define HAL_BOARD_SITL 3
+#define HAL_BOARD_SITL     3
 #define HAL_BOARD_SMACCM   4 // unused
 #define HAL_BOARD_PX4      5
 #define HAL_BOARD_FLYMAPLE 6
@@ -32,6 +32,7 @@
 #define HAL_BOARD_SUBTYPE_LINUX_BEBOP    1006
 #define HAL_BOARD_SUBTYPE_LINUX_RASPILOT 1007
 #define HAL_BOARD_SUBTYPE_LINUX_MINLURE  1008
+#define HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 1009
 
 /**
    HAL PX4 sub-types, starting at 2000
@@ -210,6 +211,12 @@
 #define HAL_INS_DEFAULT HAL_INS_RASPILOT
 #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
 #define HAL_COMPASS_DEFAULT HAL_COMPASS_RASPILOT
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
+#define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
+#define HAL_INS_DEFAULT HAL_INS_MPU9250
+#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"