diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 4855e14eb4..19705680c3 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -37,6 +37,7 @@
 #define HAL_BOARD_SUBTYPE_LINUX_BLUE       1018
 #define HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ 1019
 #define HAL_BOARD_SUBTYPE_LINUX_EDGE       1020
+#define HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ   1021
 
 /* HAL PX4 sub-types, starting at 2000 */
 #define HAL_BOARD_SUBTYPE_PX4_V1           2000
@@ -73,6 +74,7 @@
 #define HAL_INS_AERO        18
 #define HAL_INS_MPU6500     19
 #define HAL_INS_EDGE        20
+#define HAL_INS_RST         21
 
 /* Barometer driver types */
 #define HAL_BARO_BMP085      1
@@ -107,6 +109,7 @@
 #define HAL_COMPASS_AERO               16
 #define HAL_COMPASS_OCPOC_ZYNQ         17
 #define HAL_COMPASS_EDGE               18
+#define HAL_COMPASS_LIS3MDL            19
 
 /* Heat Types */
 #define HAL_LINUX_HEAT_PWM 1
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 197e0e5308..884cb2221e 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -365,6 +365,20 @@
 #define HAL_LINUX_HEAT_KP 20000
 #define HAL_LINUX_HEAT_KI 6
 #define HAL_LINUX_HEAT_PERIOD_NS 2040816
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
+#define HAL_BOARD_LOG_DIRECTORY "/mnt/APM/logs"
+#define HAL_BOARD_TERRAIN_DIRECTORY "/mnt/APM/terrain"
+#define HAL_INS_DEFAULT HAL_INS_RST
+#define HAL_INS_DEFAULT_G_ROTATION ROTATION_ROLL_180_YAW_90
+#define HAL_INS_DEFAULT_A_ROTATION ROTATION_ROLL_180_YAW_90
+#define HAL_INS_RST_G_NAME "rst_g"  //gyro
+#define HAL_INS_RST_A_NAME "rst_a"  //accel
+#define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
+#define HAL_BARO_MS5611_NAME "ms5611"
+#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL
+#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
+#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
+
 #else
 #error "no Linux board subtype set"
 #endif