diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 7337e3dcbe..a6ef45740f 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -42,6 +42,7 @@
 #define HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR  1023
 #define HAL_BOARD_SUBTYPE_LINUX_VNAV       1024
 #define HAL_BOARD_SUBTYPE_LINUX_OBAL_V1    1025
+#define HAL_BOARD_SUBTYPE_LINUX_CANZERO    1026
 
 /* HAL CHIBIOS sub-types, starting at 5000
 
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 5709bbeb0b..76cea1a112 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -286,7 +286,22 @@
     #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
     #define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
     #define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
-
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
+    #define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
+    #define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
+    #define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
+    #define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+    #define HAL_NUM_CAN_IFACES 1
+    #define HAL_CAN_DRIVER_DEFAULT 1
+    #define HAL_GPIO_A_LED_PIN        22
+    #define HAL_GPIO_B_LED_PIN        27
+    #define HAL_GPIO_C_LED_PIN        6
+    #define HAL_GPIO_LED_ON           0
+    #define HAL_GPIO_LED_OFF          1
+    #define HAL_BOARD_LOG_DIRECTORY "/home/pi/ardupilot/logs"
+    #define HAL_BOARD_TERRAIN_DIRECTORY "/home/pi/ardupilot/terrain"
+    #define HAL_BOARD_STORAGE_DIRECTORY "/home/pi/ardupilot"
+    #define HAL_DEFAULT_INS_FAST_SAMPLE 0
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
     
     //#define HAL_BARO_ALLOW_INIT_NO_BARO