diff --git a/libraries/AP_Relay/AP_Relay.cpp b/libraries/AP_Relay/AP_Relay.cpp
index 47c7349a34..d83dd6121f 100644
--- a/libraries/AP_Relay/AP_Relay.cpp
+++ b/libraries/AP_Relay/AP_Relay.cpp
@@ -17,6 +17,13 @@
     #define RELAY2_PIN_DEFAULT 49
     #define RELAY3_PIN_DEFAULT 116
     #define RELAY4_PIN_DEFAULT 113
+  #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+    #define RELAY1_PIN_DEFAULT 27
+    #define RELAY2_PIN_DEFAULT 65
+    #define RELAY3_PIN_DEFAULT 22
+    #define RELAY4_PIN_DEFAULT 81
+    #define RELAY5_PIN_DEFAULT 23
+    #define RELAY6_PIN_DEFAULT 26
   #endif
 #endif
 
@@ -50,28 +57,28 @@ const AP_Param::GroupInfo AP_Relay::var_info[] = {
     // @DisplayName: First Relay Pin
     // @Description: Digital pin number for first relay control. This is the pin used for camera control.
     // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
+    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,27:BBBMini Pin P8.17
     AP_GROUPINFO("PIN",  0, AP_Relay, _pin[0], RELAY1_PIN_DEFAULT),
 
     // @Param: PIN2
     // @DisplayName: Second Relay Pin
     // @Description: Digital pin number for 2nd relay control.
     // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
+    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,65:BBBMini Pin P8.18
     AP_GROUPINFO("PIN2",  1, AP_Relay, _pin[1], RELAY2_PIN_DEFAULT),
 
     // @Param: PIN3
     // @DisplayName: Third Relay Pin
     // @Description: Digital pin number for 3rd relay control.
     // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
+    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,22:BBBMini Pin P8.19
     AP_GROUPINFO("PIN3",  2, AP_Relay, _pin[2], RELAY3_PIN_DEFAULT),
 
     // @Param: PIN4
     // @DisplayName: Fourth Relay Pin
     // @Description: Digital pin number for 4th relay control.
     // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
+    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,63:BBBMini Pin P8.34
     AP_GROUPINFO("PIN4",  3, AP_Relay, _pin[3], RELAY4_PIN_DEFAULT),
 
     // @Param: DEFAULT
@@ -85,14 +92,14 @@ const AP_Param::GroupInfo AP_Relay::var_info[] = {
     // @DisplayName: Fifth Relay Pin
     // @Description: Digital pin number for 5th relay control.
     // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
+    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,62:BBBMini Pin P8.13
     AP_GROUPINFO("PIN5",  5, AP_Relay, _pin[4], RELAY5_PIN_DEFAULT),
 
     // @Param: PIN6
     // @DisplayName: Sixth Relay Pin
     // @Description: Digital pin number for 6th relay control.
     // @User: Standard
-    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5
+    // @Values: -1:Disabled,49:BB Blue GP0 pin 4,50:AUXOUT1,51:AUXOUT2,52:AUXOUT3,53:AUXOUT4,54:AUXOUT5,55:AUXOUT6,57:BB Blue GP0 pin 3,113:BB Blue GP0 pin 6,116:BB Blue GP0 pin 5,37:BBBMini Pin P8.14
     AP_GROUPINFO("PIN6",  6, AP_Relay, _pin[5], RELAY6_PIN_DEFAULT),
 
     AP_GROUPEND