diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 4702a0a342..4906adcb78 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -9,7 +9,7 @@
 #include <AP_Param_Helper/AP_Param_Helper.h>
 #endif
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO)
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51)
 #define AP_FEATURE_BOARD_DETECT 1
 #else
 #define AP_FEATURE_BOARD_DETECT 0
diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index 2ba82e6bd2..2e83e0f954 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -254,13 +254,13 @@ void AP_BoardConfig::board_autodetect(void)
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
     state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
     hal.console->printf("Detected VR Brain 5.1\n");
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
+#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) || defined(HAL_CHIBIOS_ARCH_BRAINV52)
     state.board_type.set_and_notify(VRX_BOARD_BRAIN52);
     hal.console->printf("Detected VR Brain 5.2\n");
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52E)
     state.board_type.set_and_notify(VRX_BOARD_BRAIN52E);
     hal.console->printf("Detected VR Brain 5.2E\n");
-#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
+#elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_UBRAINV51)
     state.board_type.set_and_notify(VRX_BOARD_UBRAIN51);
     hal.console->printf("Detected VR Micro Brain 5.1\n");
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)