diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index c81ad5e762..12487534b3 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -25,7 +25,6 @@
 #include "RCOutputRGBLed.h"
 #include "ToneAlarm_Linux.h"
 #include "ToneAlarm_PX4.h"
-#include "ToneAlarm_PX4_Solo.h"
 #include "ToshibaLED.h"
 #include "ToshibaLED_I2C.h"
 #include "VRBoard_LED.h"
@@ -33,6 +32,7 @@
 #include "DiscoLED.h"
 #include <stdio.h>
 
+#define CONFIG_NOTIFY_DEVICES_COUNT 5
 
 // table of user settable parameters
 const AP_Param::GroupInfo AP_Notify::var_info[] = {
@@ -65,6 +65,13 @@ const AP_Param::GroupInfo AP_Notify::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("DISPLAY_TYPE", 3, AP_Notify, _display_type, 0),
 
+    // @Param: OREO_THEME
+    // @DisplayName: OreoLED Theme
+    // @Description: Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
+    // @Values: 0:Disabled,1:Aircraft,2:Rover
+    // @User: Advanced
+    AP_GROUPINFO("OREO_THEME", 4, AP_Notify, _oreo_theme, 0),
+
     AP_GROUPEND
 };
 
@@ -78,93 +85,101 @@ AP_Notify::AP_Notify()
 struct AP_Notify::notify_flags_and_values_type AP_Notify::flags;
 struct AP_Notify::notify_events_type AP_Notify::events;
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4
-    PixRacerLED boardled;
-#else
-    AP_BoardLED boardled;
-#endif
-    ToshibaLED_I2C toshibaled;
-    Display display;
-
-#if AP_NOTIFY_SOLO_TONES == 1
-    ToneAlarm_PX4_Solo tonealarm;
-#else
-    ToneAlarm_PX4 tonealarm;
-#endif
-
-#if AP_NOTIFY_OREOLED == 1
-    OreoLED_PX4 oreoled;
-    NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm, &oreoled, &display};
-#else
-    NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm, &display};
-#endif
-
-#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-    ToneAlarm_PX4 tonealarm;
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45
-    AP_BoardLED boardled;
-#else
-    VRBoard_LED boardled;
-#endif
-    ToshibaLED_I2C toshibaled;
-    ExternalLED externalled;
-    NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &externalled, &tonealarm};
-
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
-        NavioLED_I2C navioled;
-        ToshibaLED_I2C toshibaled;
-        NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
-        DiscreteRGBLed navioled(4, 27, 6, false);
-        ToshibaLED_I2C toshibaled;
-        NotifyDevice *AP_Notify::_devices[] = {&navioled, &toshibaled};
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
-        AP_BoardLED boardled;
-        Buzzer buzzer;
-        Display display;
-        NotifyDevice *AP_Notify::_devices[] = {&boardled, &display, &buzzer};
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
-        AP_BoardLED boardled;
-        Display display;
-        NotifyDevice *AP_Notify::_devices[] = {&boardled, &display};
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-        ToshibaLED_I2C toshibaled;
-        ToneAlarm_Linux tonealarm;
-        NotifyDevice *AP_Notify::_devices[] = {&toshibaled, &tonealarm};
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
-        RCOutputRGBLedOff led(15, 13, 14, 255);
-        NotifyDevice *AP_Notify::_devices[] = { &led };
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
-      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
-        AP_BoardLED boardled;
-        NotifyDevice *AP_Notify::_devices[] = {&boardled};
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
-        AP_BoardLED boardled;
-        RCOutputRGBLed bhled(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE);
-        NotifyDevice *AP_Notify::_devices[] = {&boardled, &bhled};
-    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
-        DiscoLED discoled;
-        ToneAlarm_Linux tonealarm;
-        NotifyDevice *AP_Notify::_devices[] = {&discoled, &tonealarm};
-    #else
-        AP_BoardLED boardled;
-        ToshibaLED_I2C toshibaled;
-        ToneAlarm_Linux tonealarm;
-        NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled, &tonealarm};
-    #endif
-#else
-    AP_BoardLED boardled;
-    ToshibaLED_I2C toshibaled;
-    NotifyDevice *AP_Notify::_devices[] = {&boardled, &toshibaled};
-#endif
-
-#define CONFIG_NOTIFY_DEVICES_COUNT (ARRAY_SIZE(AP_Notify::_devices))
+NotifyDevice *AP_Notify::_devices[] = {nullptr, nullptr, nullptr, nullptr, nullptr};
 
 // initialisation
 void AP_Notify::init(bool enable_external_leds)
 {
+
+// Notify devices for PX4 boards
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
+        _devices[0] = new AP_BoardLED();
+        _devices[1] = new ToshibaLED_I2C();
+        _devices[2] = new ToneAlarm_PX4();
+        _devices[3] = new Display();
+
+        // Oreo LED enable/disable by NTF_OREO_THEME parameter
+        if (_oreo_theme) {
+            _devices[4] = new OreoLED_PX4(_oreo_theme);
+        }
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 // Has its own LED board
+        _devices[0] = new PixRacerLED();
+        _devices[1] = new ToshibaLED_I2C();
+        _devices[2] = new ToneAlarm_PX4();
+        _devices[3] = new Display();
+
+    #else   // All other px4 boards use standard devices.
+        _devices[0] = new AP_BoardLED();
+        _devices[1] = new ToshibaLED_I2C();
+        _devices[2] = new ToneAlarm_PX4();
+        _devices[3] = new Display();
+    #endif
+
+// Notify devices for VRBRAIN boards
+#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN  
+    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45 // Uses px4 LED board
+        _devices[0] = new AP_BoardLED();
+        _devices[1] = new ToshibaLED_I2C();
+        _devices[2] = new ToneAlarm_PX4();
+        _devices[3] = new ExternalLED();
+    #else
+        _devices[0] = new VRBoard_LED();
+        _devices[1] = new ToshibaLED_I2C();
+        _devices[2] = new ToneAlarm_PX4();
+        _devices[3] = new ExternalLED();
+    #endif
+
+// Notify devices for linux boards    
+#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+    #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
+        _devices[0] = new NavioLED_I2C();
+        _devices[1] = new ToshibaLED_I2C();
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
+        _devices[0] = new DiscreteRGBLed(4, 27, 6, false);
+        _devices[1] = new ToshibaLED_I2C();
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+        _devices[0] = new AP_BoardLED();
+        _devices[1] = new Buzzer();
+        _devices[2] = new Display();
+        
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
+        _devices[0] = new AP_BoardLED();
+        _devices[1] = new Display();
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
+        _devices[0] = new ToshibaLED_I2C();
+        _devices[1] = new ToneAlarm_Linux();
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
+        _devices[0] = new RCOutputRGBLedOff(15, 13, 14, 255);
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
+      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
+        _devices[0] = new AP_BoardLED();
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
+        _devices[0] = new AP_BoardLED();
+        _devices[1] = new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE);
+
+    #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+        _devices[0] = new DiscoLED();
+        _devices[1] = new ToneAlarm_Linux();
+
+    #else
+        _devices[0] = new AP_BoardLED();
+        _devices[1] = new ToshibaLED_I2C();
+        _devices[2] = new ToneAlarm_Linux();
+    #endif
+
+#else
+    _devices[0] = new AP_BoardLED();
+    _devices[1] = new ToshibaLED_I2C();
+#endif
+
     // clear all flags and events
     memset(&AP_Notify::flags, 0, sizeof(AP_Notify::flags));
     memset(&AP_Notify::events, 0, sizeof(AP_Notify::events));
@@ -177,8 +192,10 @@ void AP_Notify::init(bool enable_external_leds)
     AP_Notify::flags.external_leds = enable_external_leds;
 
     for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
-        _devices[i]->pNotify = this;
-        _devices[i]->init();
+        if (_devices[i] != nullptr) {
+            _devices[i]->pNotify = this;
+            _devices[i]->init();
+        }
     }
 }
 
@@ -186,7 +203,9 @@ void AP_Notify::init(bool enable_external_leds)
 void AP_Notify::update(void)
 {
     for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
-        _devices[i]->update();
+        if (_devices[i] != nullptr) {
+            _devices[i]->update();
+        }
     }
 
     //reset the events
@@ -197,7 +216,9 @@ void AP_Notify::update(void)
 void AP_Notify::handle_led_control(mavlink_message_t *msg)
 {
     for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
-        _devices[i]->handle_led_control(msg);
+        if (_devices[i] != nullptr) {
+            _devices[i]->handle_led_control(msg);
+        }
     }
 }
 
@@ -205,7 +226,9 @@ void AP_Notify::handle_led_control(mavlink_message_t *msg)
 void AP_Notify::handle_play_tune(mavlink_message_t *msg)
 {
     for (uint8_t i = 0; i < CONFIG_NOTIFY_DEVICES_COUNT; i++) {
-        _devices[i]->handle_play_tune(msg);
+        if (_devices[i] != nullptr) {
+            _devices[i]->handle_play_tune(msg);
+        }
     }
 }
 
diff --git a/libraries/AP_Notify/AP_Notify.h b/libraries/AP_Notify/AP_Notify.h
index 75326f5fec..e90e64982c 100644
--- a/libraries/AP_Notify/AP_Notify.h
+++ b/libraries/AP_Notify/AP_Notify.h
@@ -20,15 +20,6 @@
 
 #include "NotifyDevice.h"
 
-
-#ifndef AP_NOTIFY_OREOLED
-#define AP_NOTIFY_OREOLED 0
-#endif
-
-#ifndef AP_NOTIFY_SOLO_TONES
-#define AP_NOTIFY_SOLO_TONES 0
-#endif
-
 // Device parameters values
 #define RGB_LED_OFF     0
 #define RGB_LED_LOW     1
@@ -50,7 +41,14 @@ class AP_Notify
     friend class Display;           // Display needs access to notify parameters
 public:
     // Constructor
-    AP_Notify();
+    AP_Notify();   
+
+    // Oreo LED Themes
+    enum Oreo_LED_Theme {
+        OreoLED_Disabled        = 0,    // Disabled the OLED driver entirely
+        OreoLED_Aircraft        = 1,    // Standard aviation themed lighting
+        OreoLED_Automobile      = 2,    // Automobile themed lighting (white front, red back)
+    };
 
     /// notify_flags_type - bitmask of notification flags
     struct notify_flags_and_values_type {
@@ -72,6 +70,7 @@ public:
         uint32_t compass_cal_running: 1;    // 1 if a compass calibration is running
         uint32_t leak_detected      : 1;    // 1 if leak detected
         float    battery_voltage       ;    // battery voltage
+        uint32_t gps_fusion         : 1;    // 0 = GPS fix rejected by EKF, not usable for flight. 1 = GPS in use by EKF, usable for flight
 
         // additional flags
         uint32_t external_leds      : 1;    // 1 if external LEDs are enabled (normally only used for copter)
@@ -138,6 +137,7 @@ private:
     AP_Int8 _rgb_led_override;
     AP_Int8 _buzzer_enable;
     AP_Int8 _display_type;
+    AP_Int8 _oreo_theme;
 
     char _send_text[NOTIFY_TEXT_BUFFER_SIZE];
     uint32_t _send_text_updated_millis; // last time text changed