diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index abcdedb9a7..5fc4d2e6e9 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -215,15 +215,8 @@ static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
 static DataFlash_APM2 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
 static DataFlash_APM1 DataFlash;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
-static DataFlash_File DataFlash("logs");
-//static DataFlash_SITL DataFlash;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
-static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-static DataFlash_File DataFlash("logs");
-#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-static DataFlash_File DataFlash("/fs/microsd/APM/LOGS");
+#elif defined(HAL_BOARD_LOG_DIRECTORY)
+static DataFlash_File DataFlash(HAL_BOARD_LOG_DIRECTORY);
 #else
 static DataFlash_Empty DataFlash;
 #endif
@@ -258,77 +251,57 @@ static GPS_Glitch gps_glitch(gps);
 // flight modes convenience array
 static AP_Int8 *flight_modes = &g.flight_mode1;
 
-#if HIL_MODE == HIL_MODE_DISABLED
-
- #if CONFIG_ADC == ENABLED
-static AP_ADC_ADS7844 adc;
- #endif
-
- #if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
-static AP_InertialSensor_MPU6000 ins;
-#elif CONFIG_IMU_TYPE == CONFIG_IMU_MPU9250
-static AP_InertialSensor_MPU9250 ins;
-#elif CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
-static AP_InertialSensor_Oilpan ins(&adc);
-#elif CONFIG_IMU_TYPE == CONFIG_IMU_SITL
-static AP_InertialSensor_HIL ins;
-#elif CONFIG_IMU_TYPE == CONFIG_IMU_PX4
-static AP_InertialSensor_PX4 ins;
-#elif CONFIG_IMU_TYPE == CONFIG_IMU_VRBRAIN
-static AP_InertialSensor_VRBRAIN ins;
-#elif CONFIG_IMU_TYPE == CONFIG_IMU_FLYMAPLE
-AP_InertialSensor_Flymaple ins;
-#elif CONFIG_IMU_TYPE == CONFIG_IMU_L3G4200D
-AP_InertialSensor_L3G4200D ins;
-#endif
-
- #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
- // When building for SITL we use the HIL barometer and compass drivers
-static AP_Baro_HIL barometer;
-static AP_Compass_HIL compass;
-static SITL sitl;
- #else
-// Otherwise, instantiate a real barometer and compass driver
-  #if CONFIG_BARO == AP_BARO_BMP085
+#if CONFIG_BARO == HAL_BARO_BMP085
 static AP_Baro_BMP085 barometer;
-  #elif CONFIG_BARO == AP_BARO_PX4
+#elif CONFIG_BARO == HAL_BARO_PX4
 static AP_Baro_PX4 barometer;
-#elif CONFIG_BARO == AP_BARO_VRBRAIN
+#elif CONFIG_BARO == HAL_BARO_VRBRAIN
 static AP_Baro_VRBRAIN barometer;
-  #elif CONFIG_BARO == AP_BARO_MS5611
-   #if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
-static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
-   #elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
+#elif CONFIG_BARO == HAL_BARO_HIL
+static AP_Baro_HIL barometer;
+#elif CONFIG_BARO == HAL_BARO_MS5611
 static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
-   #else
-    #error Unrecognized CONFIG_MS5611_SERIAL setting.
-   #endif
-  #endif
-
- #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-static AP_Compass_PX4 compass;
- #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-static AP_Compass_VRBRAIN compass;
- #else
-static AP_Compass_HMC5843 compass;
- #endif
- #endif
-
-#elif HIL_MODE != HIL_MODE_DISABLED
-// sensor emulators
-static AP_ADC_HIL              adc;
-static AP_Baro_HIL      barometer;
-static AP_Compass_HIL          compass;
-static AP_InertialSensor_HIL   ins;
-
- #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
- // When building for SITL we use the HIL barometer and compass drivers
-static SITL sitl;
+#elif CONFIG_BARO == HAL_BARO_MS5611_SPI
+static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
+#else
+ #error Unrecognized CONFIG_BARO setting
 #endif
 
+#if CONFIG_COMPASS == HAL_COMPASS_PX4
+static AP_Compass_PX4 compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
+static AP_Compass_VRBRAIN compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
+static AP_Compass_HMC5843 compass;
+#elif CONFIG_COMPASS == HAL_COMPASS_HIL
+static AP_Compass_HIL compass;
 #else
- #error Unrecognised HIL_MODE setting.
-#endif // HIL MODE
+ #error Unrecognized CONFIG_COMPASS setting
+#endif
+
+#if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
+AP_ADC_ADS7844 apm1_adc;
+#endif
+
+#if CONFIG_INS_TYPE == HAL_INS_MPU6000
+AP_InertialSensor_MPU6000 ins;
+#elif CONFIG_INS_TYPE == HAL_INS_PX4
+AP_InertialSensor_PX4 ins;
+#elif CONFIG_INS_TYPE == HAL_INS_VRBRAIN
+AP_InertialSensor_VRBRAIN ins;
+#elif CONFIG_INS_TYPE == HAL_INS_HIL
+AP_InertialSensor_HIL ins;
+#elif CONFIG_INS_TYPE == HAL_INS_OILPAN
+AP_InertialSensor_Oilpan ins( &apm1_adc );
+#elif CONFIG_INS_TYPE == HAL_INS_FLYMAPLE
+AP_InertialSensor_Flymaple ins;
+#elif CONFIG_INS_TYPE == HAL_INS_L3G4200D
+AP_InertialSensor_L3G4200D ins;
+#elif CONFIG_INS_TYPE == HAL_INS_MPU9250
+AP_InertialSensor_MPU9250 ins;
+#else
+  #error Unrecognised CONFIG_INS_TYPE setting.
+#endif // CONFIG_INS_TYPE
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
@@ -337,6 +310,10 @@ AP_AHRS_NavEKF ahrs(ins, barometer, gps);
 AP_AHRS_DCM ahrs(ins, barometer, gps);
 #endif
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+SITL sitl;
+#endif
+
 // Mission library
 // forward declaration to keep compiler happy
 static bool start_command(const AP_Mission::Mission_Command& cmd);
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 7b4dcb9c84..fd17055697 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -53,48 +53,50 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-// FLIGHT CONTROLLER HARDWARE DEFAULT SETTINGS
-//
+// sensor types
+
+#define CONFIG_INS_TYPE HAL_INS_DEFAULT
+#define CONFIG_BARO     HAL_BARO_DEFAULT
+#define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
+
+#ifdef HAL_SERIAL0_BAUD_DEFAULT
+# define SERIAL0_BAUD HAL_SERIAL0_BAUD_DEFAULT
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+// HIL_MODE                                 OPTIONAL
+
+#ifndef HIL_MODE
+ #define HIL_MODE        HIL_MODE_DISABLED
+#endif
+
+#if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
+ #undef CONFIG_BARO
+ #define CONFIG_BARO HAL_BARO_HIL
+ #undef CONFIG_INS_TYPE
+ #define CONFIG_INS_TYPE HAL_INS_HIL
+ #undef  CONFIG_COMPASS
+ #define CONFIG_COMPASS HAL_COMPASS_HIL
+#endif
+
+#define MAGNETOMETER ENABLED
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
- # define CONFIG_IMU_TYPE   CONFIG_IMU_MPU6000
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
- # define MAGNETOMETER ENABLED
  # define PARACHUTE DISABLED
  # define AC_RALLY DISABLED
- # ifdef APM2_BETA_HARDWARE
-  #  define CONFIG_BARO     AP_BARO_BMP085
- # else // APM2 Production Hardware (default)
-  #  define CONFIG_BARO          AP_BARO_MS5611
-  #  define CONFIG_MS5611_SERIAL AP_BARO_MS5611_SPI
- # endif
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
- # define CONFIG_IMU_TYPE   CONFIG_IMU_SITL
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
- # define MAGNETOMETER ENABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
- # define CONFIG_IMU_TYPE   CONFIG_IMU_PX4
- # define CONFIG_BARO       AP_BARO_PX4
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
- # define MAGNETOMETER ENABLED
 #elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
- # define CONFIG_IMU_TYPE CONFIG_IMU_FLYMAPLE
- # define CONFIG_BARO AP_BARO_BMP085
- # define CONFIG_COMPASS  AP_COMPASS_HMC5843
  # define CONFIG_ADC        DISABLED
- # define MAGNETOMETER ENABLED
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
 #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
- # define CONFIG_IMU_TYPE CONFIG_IMU_L3G4200D
- # define CONFIG_BARO AP_BARO_BMP085
- # define CONFIG_COMPASS  AP_COMPASS_HMC5843
  # define CONFIG_ADC        DISABLED
- # define MAGNETOMETER ENABLED
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
 #elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
- # define CONFIG_IMU_TYPE   CONFIG_IMU_VRBRAIN
- # define CONFIG_BARO       AP_BARO_VRBRAIN
  # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
- # define MAGNETOMETER ENABLED
 #endif
 
 #if HAL_CPU_CLASS < HAL_CPU_CLASS_75 || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
@@ -102,6 +104,11 @@
  # define MAIN_LOOP_RATE    100
  # define MAIN_LOOP_SECONDS 0.01
  # define MAIN_LOOP_MICROS  10000
+#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+ // Linux boards
+ # define MAIN_LOOP_RATE    200
+ # define MAIN_LOOP_SECONDS 0.005
+ # define MAIN_LOOP_MICROS  5000
 #else
  // high power CPUs (Flymaple, PX4, Pixhawk, VRBrain)
  # define MAIN_LOOP_RATE    400
@@ -141,18 +148,11 @@
   # define RATE_YAW_I                   0.015f
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// IMU Selection
-//
-#ifndef CONFIG_IMU_TYPE
- # define CONFIG_IMU_TYPE CONFIG_IMU_OILPAN
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // ADC Enable - used to eliminate for systems which don't have ADC.
 //
 #ifndef CONFIG_ADC
- # if CONFIG_IMU_TYPE == CONFIG_IMU_OILPAN
+ # if CONFIG_INS_TYPE == HAL_INS_OILPAN || CONFIG_HAL_BOARD == HAL_BOARD_APM1
   #   define CONFIG_ADC ENABLED
  # else
   #   define CONFIG_ADC DISABLED
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index efedec3ce3..d1e796b8e8 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -334,22 +334,6 @@ enum FlipState {
 // mark a function as not to be inlined
 #define NOINLINE __attribute__((noinline))
 
-// IMU selection
-#define CONFIG_IMU_OILPAN  1
-#define CONFIG_IMU_MPU6000 2
-#define CONFIG_IMU_SITL    3
-#define CONFIG_IMU_PX4     4
-#define CONFIG_IMU_FLYMAPLE 5
-#define CONFIG_IMU_VRBRAIN 6
-
-#define AP_BARO_BMP085    1
-#define AP_BARO_MS5611    2
-#define AP_BARO_PX4       3
-#define AP_BARO_VRBRAIN   4
-
-#define AP_BARO_MS5611_SPI 1
-#define AP_BARO_MS5611_I2C 2
-
 // Error message sub systems and error codes
 #define ERROR_SUBSYSTEM_MAIN                1
 #define ERROR_SUBSYSTEM_RADIO               2
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 76f1bc2503..538a0df04c 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -205,7 +205,7 @@ static void init_ardupilot()
 
  #if CONFIG_ADC == ENABLED
     // begin filtering the ADC Gyros
-    adc.Init();           // APM ADC library initialization
+    apm1_adc.Init();           // APM ADC library initialization
  #endif // CONFIG_ADC
 
     // Do GPS init