diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat
index b8fdc2bfd5..959e067ae6 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat
@@ -126,9 +126,6 @@ define STORAGE_FLASH_PAGE 2
 # reserve 32k for bootloader and 32k for flash storage
 FLASH_RESERVE_START_KB 64
 
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
-
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
@@ -137,16 +134,17 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 
-# baro is a bmp280 on i2c
-define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
-define HAL_BARO_BMP280_BUS 0
-define HAL_BARO_BMP280_I2C_ADDR 0x76
-
 # SPI devices
 SPIDEV mpu6000   SPI1 DEVID1 ICM20689_CS MODE3 1*MHZ 8*MHZ 
 SPIDEV dataflash SPI3 DEVID1 FLASH_CS    MODE3 32*MHZ 32*MHZ
 SPIDEV osd       SPI3 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
 
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_180
+
+# one baro
+BARO BMP280 I2C:0:0x76
+
 # enable logging to dataflash
 define HAL_LOGGING_DATAFLASH
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
index 482254ed3f..a89e997246 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/hwdef.dat
@@ -129,10 +129,6 @@ SPIDEV mpu6000  SPI4 DEVID1 ICM20689_CS MODE3  1*MHZ  4*MHZ
 SPIDEV sdcard   SPI1 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ
 SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
 
-define HAL_BARO_DEFAULT HAL_BARO_BMP280_I2C
-define HAL_BARO_BMP280_BUS 0
-define HAL_BARO_BMP280_I2C_ADDR 0x76
-
 # no built-in compass, but probe the i2c bus for all possible
 # external compass types
 define ALLOW_ARM_NO_COMPASS
@@ -141,9 +137,11 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 
-# probe for an invensense IMU
-define HAL_INS_DEFAULT HAL_INS_MPU60XX_SPI
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
+# one IMU
+IMU Invensense SPI:mpu6000 ROTATION_YAW_180
+
+# one BARO
+BARO BMP280 I2C:0:0x76
 
 define HAL_OS_FATFS_IO 1
 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"