diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 82a1504c29..f4bc0b448d 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -560,6 +560,16 @@ class px4_v4(px4):
         self.romfs_exclude(['oreoled.bin'])
         self.with_uavcan = True
 
+class px4_v4pro(px4):
+    name = 'px4-v4pro'
+    def __init__(self):
+        super(px4_v4pro, self).__init__()
+        self.bootloader_name = 'px4fmuv4pro_bl.bin'
+        self.board_name = 'px4fmu-v4pro'
+        self.px4io_name = 'px4io-v2'
+        self.romfs_exclude(['oreoled.bin'])
+        self.with_uavcan = True		
+		
 class aerofc_v1(px4):
     name = 'aerofc-v1'
     def __init__(self):
diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4pro_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4pro_apm.cmake
new file mode 100644
index 0000000000..07dd66609a
--- /dev/null
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4pro_apm.cmake
@@ -0,0 +1,11 @@
+include(configs/nuttx_px4fmu-common_apm)
+
+list(APPEND config_module_list
+    drivers/boards/px4fmu-v4pro
+    drivers/pwm_input
+    drivers/px4io
+)
+
+set(config_io_board
+    px4io-v2
+)