diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 55cab5c14e..92646832d8 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -68,6 +68,7 @@
 #define HAL_INS_BH          14
 #define HAL_INS_QFLIGHT  15
 #define HAL_INS_QURT     16
+#define HAL_INS_BBBMINI  17
 
 // barometer driver types
 #define HAL_BARO_BMP085     1
@@ -94,6 +95,7 @@
 #define HAL_COMPASS_BH                  10
 #define HAL_COMPASS_QFLIGHT   11
 #define HAL_COMPASS_QURT      12
+#define HAL_COMPASS_BBBMINI   13
 
 // Heat Types
 #define HAL_LINUX_HEAT_PWM 1
@@ -347,11 +349,12 @@
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"
-#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI
+#define HAL_INS_DEFAULT HAL_INS_BBBMINI
 #define HAL_INS_MPU9250_NAME "mpu9250"
+#define HAL_INS_MPU9250_NAME_EXT "mpu9250ext"
 #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
 #define HAL_BARO_MS5611_NAME "ms5611"
-#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
 /* HMC5843 can be an external compass */
 #define HAL_COMPASS_HMC5843_I2C_BUS 2
 #define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E