diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APM b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APM
new file mode 100644
index 0000000000..e13db9fda3
--- /dev/null
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APM
@@ -0,0 +1,177 @@
+#!nsh
+
+# APM startup script for NuttX on VRBRAIN
+
+# To disable APM startup add a /fs/microsd/APM/nostart file
+
+# check for an old file called APM, caused by 
+# a bug in an earlier firmware release
+if [ -f /fs/microsd/APM ]
+then
+   echo "[APM] APM file found - renaming"
+   mv /fs/microsd/APM /fs/microsd/APM.old
+fi
+
+if [ -f /fs/microsd/APM/nostart ]
+then
+   echo "[APM] APM/nostart found - skipping APM startup"
+   sh /etc/init.d/rc.error
+fi
+
+# mount binfs so we can find the built-in apps
+if [ -f /bin/reboot ]
+then
+	echo "[APM] binfs already mounted"
+else
+	echo "[APM] Mounting binfs"
+    if mount -t binfs /dev/null /bin
+    then
+        echo "[APM] binfs mounted OK"
+    else
+        sh /etc/init.d/rc.error
+    fi
+fi
+
+if rm /fs/microsd/APM/boot.log
+then
+   echo "[APM] Removed old boot.log"
+fi
+set logfile /fs/microsd/APM/BOOT.LOG
+
+if [ ! -f /bin/ArduPilot ]
+then
+   echo "[APM] /bin/ArduPilot not found"
+   sh /etc/init.d/rc.error
+fi
+
+if mkdir /fs/microsd/APM > /dev/null
+then
+     echo "[APM] Created APM directory"
+fi
+
+echo "[APM] Starting UORB"
+if uorb start
+then
+    echo "[APM] UORB started OK"
+else
+    sh /etc/init.d/rc.error
+fi
+
+echo "[APM] Starting ADC"
+if adc start
+then
+    echo "[APM] ADC started OK"
+else
+    sh /etc/init.d/rc.error
+fi
+
+echo "[APM] Starting APM sensors"
+if ms5611 start
+then
+    echo "[APM] MS5611 started OK"
+else
+    echo "[APM] MS5611 start failed"
+    sh /etc/init.d/rc.error
+fi
+
+if hmc5883_onboard start
+then
+    echo "[APM] HMC5883 onboard started OK"
+#    if hmc5883 calibrate
+#    then
+#      echo "[APM] HMC5883 onboard calibrate OK"
+#    else 
+#      echo "[APM] HMC5883 onboard calibrate failed"
+#    fi
+else
+    echo "[APM] HMC5883 onboard start failed"
+    sh /etc/init.d/rc.error
+fi
+
+#if hmc5883_external start
+#then
+#    echo "[APM] HMC5883 external started OK"
+#    if hmc5883 calibrate
+#    then
+#      echo "[APM] HMC5883 external calibrate OK"
+#    else 
+#      echo "[APM] HMC5883 external calibrate failed"
+#    fi
+#else
+#    echo "[APM] HMC5883 external start failed"
+#    sh /etc/init.d/rc.error
+#fi
+
+if mpu6000_onboard start
+then
+    echo "[APM] MPU6000 onboard started OK"
+else
+    echo "[APM] MPU6000 onboard start failed"
+    sh /etc/init.d/rc.error
+fi
+
+#if mpu6000_external start
+#then
+#    echo "[APM] MPU6000 external started OK"
+#else
+#    echo "[APM] MPU6000 external start failed"
+#    sh /etc/init.d/rc.error
+#fi
+
+echo "[APM] Starting MTD driver"
+if mtd start /fs/mtd
+then
+    echo "[APM] MTD driver started OK"
+else
+    echo "[APM] MTD driver start failed"
+    sh /etc/init.d/rc.error           
+fi
+
+echo "[APM] MTD driver read test"
+if mtd readtest /fs/mtd
+then
+    echo "[APM] MTD driver readtest OK"
+else
+    echo "[APM] MTD driver failed to read"
+    sh /etc/init.d/rc.error           
+fi
+
+echo "[APM] Starting VROUTPUT driver"
+vroutput mode_pwm
+#if vroutput mode_pwm
+#then
+#    echo "[APM] VROUTPUT driver started OK"
+#else
+#    echo "[APM] VROUTPUT driver start failed"
+#    sh /etc/init.d/rc.error           
+#fi
+
+echo "[APM] Starting VRINPUT driver"
+vrinput start
+#if vrinput start
+#then
+#    echo "[APM] VRINPUT driver started OK"
+#else
+#    echo "[APM] VRINPUT driver start failed"
+#    sh /etc/init.d/rc.error           
+#fi
+
+set sketch NONE
+set deviceA /dev/ttyACM0
+set deviceC /dev/ttyS2
+
+echo "[APM] Starting ArduPilot"
+#if ArduPilot -d $deviceA -d2 $deviceC start
+if ArduPilot start
+then
+    echo "[APM] ArduPilot started OK"
+else
+    echo "[APM] ArduPilot start failed"
+    sh /etc/init.d/rc.error
+fi
+
+echo "[APM] Exiting from nsh shell"
+exit
+
+echo "[APM] Script finished"
+
diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APMNS b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APMNS
new file mode 100644
index 0000000000..c0a02c3c5a
--- /dev/null
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.APMNS
@@ -0,0 +1,150 @@
+#!nsh
+
+# APM startup script for NuttX on VRBRAIN
+
+# mount binfs so we can find the built-in apps
+if [ -f /bin/reboot ]
+then
+	echo "[APMNS] binfs already mounted"
+else
+	echo "[APMNS] Mounting binfs"
+    if mount -t binfs /dev/null /bin
+    then
+        echo "[APMNS] binfs mounted OK"
+    else
+        sh /etc/init.d/rc.error
+    fi
+fi
+
+if [ ! -f /bin/ArduPilot ]
+then
+   echo "[APMNS] /bin/ArduPilot not found"
+   sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting UORB"
+if uorb start
+then
+    echo "[APMNS] UORB started OK"
+else
+    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting ADC"
+if adc start
+then
+    echo "[APMNS] ADC started OK"
+else
+    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting APM sensors"
+if ms5611 start
+then
+    echo "[APMNS] MS5611 started OK"
+else
+    echo "[APMNS] MS5611 start failed"
+    sh /etc/init.d/rc.error
+fi
+
+if hmc5883_onboard start
+then
+    echo "[APMNS] HMC5883 onboard started OK"
+#    if hmc5883 calibrate
+#    then
+#      echo "[APMNS] HMC5883 onboard calibrate OK"
+#    else 
+#      echo "[APMNS] HMC5883 onboard calibrate failed"
+#    fi
+else
+    echo "[APMNS] HMC5883 onboard start failed"
+    sh /etc/init.d/rc.error
+fi
+
+if hmc5883_external start
+then
+    echo "[APMNS] HMC5883 external started OK"
+#    if hmc5883 calibrate
+#    then
+#      echo "[APMNS] HMC5883 external calibrate OK"
+#    else 
+#      echo "[APMNS] HMC5883 external calibrate failed"
+#    fi
+else
+    echo "[APMNS] HMC5883 external start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+if mpu6000_onboard start
+then
+    echo "[APMNS] MPU6000 onboard started OK"
+else
+    echo "[APMNS] MPU6000 onboard start failed"
+    sh /etc/init.d/rc.error
+fi
+
+if mpu6000_external start
+then
+    echo "[APMNS] MPU6000 external started OK"
+else
+    echo "[APMNS] MPU6000 external start failed"
+#    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Starting MTD driver"
+if mtd start /fs/mtd
+then
+    echo "[APMNS] MTD driver started OK"
+else
+    echo "[APMNS] MTD driver start failed"
+    sh /etc/init.d/rc.error           
+fi
+
+echo "[APMNS] MTD driver read test"
+if mtd readtest /fs/mtd
+then
+    echo "[APMNS] MTD driver readtest OK"
+else
+    echo "[APMNS] MTD driver failed to read"
+    sh /etc/init.d/rc.error           
+fi
+
+echo "[APMNS] Starting VROUTPUT driver"
+vroutput mode_pwm
+#if vroutput mode_pwm
+#then
+#    echo "[APMNS] VROUTPUT driver started OK"
+#else
+#    echo "[APMNS] VROUTPUT driver start failed"
+#    sh /etc/init.d/rc.error           
+#fi
+
+echo "[APMNS] Starting VRINPUT driver"
+vrinput start
+#if vrinput start
+#then
+#    echo "[APMNS] VRINPUT driver started OK"
+#else
+#    echo "[APMNS] VRINPUT driver start failed"
+#    sh /etc/init.d/rc.error           
+#fi
+
+set sketch NONE
+set deviceA /dev/ttyACM0
+set deviceC /dev/ttyS2
+
+echo "[APMNS] Starting ArduPilot"
+#if ArduPilot -d $deviceA -d2 $deviceC start
+if ArduPilot start
+then
+    echo "[APMNS] ArduPilot started OK"
+else
+    echo "[APMNS] ArduPilot start failed"
+    sh /etc/init.d/rc.error
+fi
+
+echo "[APMNS] Exiting from nsh shell"
+exit
+
+echo "[APMNS] Script finished"
+
diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.error b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.error
new file mode 100644
index 0000000000..a14e763476
--- /dev/null
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rc.error
@@ -0,0 +1,7 @@
+echo "Error in startup"
+
+nshterm /dev/ttyACM0 &
+sleep 1
+nshterm /dev/ttyS0 &
+sleep 1
+exit
diff --git a/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rcS b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rcS
new file mode 100644
index 0000000000..37eab9f8b6
--- /dev/null
+++ b/mk/VRBRAIN/ROMFS_VRBRAIN51_APM/init.d/rcS
@@ -0,0 +1,93 @@
+#!nsh
+#
+# VRBRAIN startup script.
+#
+# This script is responsible for:
+#
+# - mounting the microSD card (if present)
+# - running the user startup script from the microSD card (if present)
+# - detecting the configuration of the system and picking a suitable
+#   startup script to continue with
+#
+# Note: DO NOT add configuration-specific commands to this script;
+#       add them to the per-configuration scripts instead.
+#
+
+#
+# Default to auto-start mode.  An init script on the microSD card
+# can change this to prevent automatic startup of the flight script.
+#
+set MODE autostart
+set USB autoconnect
+
+#
+# Try to mount the microSD card.
+#
+echo "[init] looking for microSD..."
+if mount -t vfat /dev/mmcsd0 /fs/microsd
+then
+	echo "[init] card mounted at /fs/microsd"
+        set HAVE_MICROSD 1
+else
+	echo "[init] no microSD card found"
+        set HAVE_MICROSD 0
+fi
+
+#
+# Look for an init script on the microSD card.
+#
+# To prevent automatic startup in the current flight mode,
+# the script should set MODE to some other value.
+#
+if [ -f /fs/microsd/etc/rc ]
+then
+	echo "[init] reading /fs/microsd/etc/rc"
+	sh /fs/microsd/etc/rc
+fi
+# Also consider rc.txt files
+if [ -f /fs/microsd/etc/rc.txt ]
+then
+	echo "[init] reading /fs/microsd/etc/rc.txt"
+	sh /fs/microsd/etc/rc.txt
+fi
+
+#
+# Check for USB host
+#
+if [ $USB != autoconnect ]
+then
+	echo "[init] not connecting USB"
+else
+	if sercon
+	then
+		echo "[init] USB interface connected"
+	else
+		echo "[init] No USB connected"
+	fi
+fi
+
+if [ $HAVE_MICROSD == 1 ]
+then
+	if [ ! -f /fs/microsd/APM/nostart ]
+	then
+		if [ -f /etc/init.d/rc.APM ]
+		then
+			echo "[init] Running rc.APM"
+			# if APM startup is successful then nsh will exit
+			sh /etc/init.d/rc.APM
+		else
+	        nshterm /dev/ttyACM0 &
+		fi
+	else
+        nshterm /dev/ttyACM0 &
+	fi
+else
+	if [ -f /etc/init.d/rc.APMNS ]
+	then
+		echo "[init] Running rc.APM without SD"
+		# if APM startup is successful then nsh will exit
+		sh /etc/init.d/rc.APMNS
+	else
+		nshterm /dev/ttyACM0 &
+	fi
+fi
diff --git a/mk/VRBRAIN/config_vrbrain-v51_APM.mk b/mk/VRBRAIN/config_vrbrain-v51_APM.mk
new file mode 100644
index 0000000000..ee79853c71
--- /dev/null
+++ b/mk/VRBRAIN/config_vrbrain-v51_APM.mk
@@ -0,0 +1,173 @@
+#
+# Makefile for the VRBRAIN 5.1 APM configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(SKETCHBOOK)/mk/VRBRAIN/ROMFS_VRBRAIN51_APM
+
+MODULES		+= $(APM_MODULE_DIR)
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/stm32/adc
+MODULES		+= drivers/stm32/tone_alarm
+MODULES		+= drivers/led
+MODULES		+= drivers/buzzer
+
+
+MODULES		+= drivers/boards/vrbrain-v51
+MODULES		+= drivers/vrbrain/vroutput
+MODULES		+= drivers/vrbrain/vrinput/controls
+MODULES		+= drivers/vrbrain/vrinput
+
+
+
+#MODULES		+= drivers/mpu6000
+MODULES		+= drivers/mpu6000_external
+MODULES		+= drivers/mpu6000_onboard
+#MODULES		+= drivers/hmc5883
+MODULES		+= drivers/hmc5883_external
+MODULES		+= drivers/hmc5883_onboard
+MODULES		+= drivers/ms5611
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#
+# System commands
+#
+MODULES		+= systemcmds/mtd
+
+
+
+
+
+
+MODULES		+= systemcmds/pwm
+
+MODULES		+= systemcmds/top
+MODULES		+= systemcmds/reboot
+
+
+MODULES		+= systemcmds/tests
+
+MODULES		+= systemcmds/nshterm
+
+#
+# General system control
+#
+
+
+
+
+
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+
+
+
+
+
+
+#
+# Vehicle Control
+#
+
+
+
+
+
+
+
+
+#
+# Logging
+#
+
+
+#
+# Unit tests
+#
+
+
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+
+
+MODULES		+= modules/uORB
+
+#
+# Libraries
+#
+
+
+MODULES		+= lib/mathlib/math/filter
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+#
+# Transitional support - add commands from the NuttX export archive.
+#
+# In general, these should move to modules over time.
+#
+# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
+# to make the table a bit more readable.
+#
+define _B
+	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
+endef
+
+#                  command                 priority                   stack  entrypoint
+BUILTIN_COMMANDS := \
+	$(call _B,  sercon,                 ,                          2048,   sercon_main                ) \
+	$(call _B,  serdis,                 ,                          2048,   serdis_main                ) \
+	$(call _B,  msconn,                 ,                          2048,   msconn_main                ) \
+	$(call _B,   msdis,                 ,                          2048,    msdis_main                ) \
+	$(call _B, sysinfo,                 ,                          2048,  sysinfo_main                )