diff --git a/libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde b/libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde
index 9438cdbc49..248b4a0a24 100644
--- a/libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde
+++ b/libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde
@@ -14,13 +14,9 @@
 #include <AP_HAL_AVR.h>
 #include <AP_GPS.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-#endif
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-AP_GPS_406 gps(hal.uartB);
+AP_GPS_406 gps;
 #define T6 1000000
 #define T7 10000000
 
@@ -30,7 +26,7 @@ void setup()
     hal.uartB->begin(57600, 128, 16);
     gps.print_errors = true;
 
-    gps.init();  // GPS Initialization
+    gps.init(hal.uartB);  // GPS Initialization
     hal.scheduler->delay(1000);
 }
 void loop()
diff --git a/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde b/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde
index df76235528..429fe8d93d 100644
--- a/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde
+++ b/libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde
@@ -10,17 +10,15 @@
 #include <AP_Param.h>
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_Empty.h>
 #include <AP_GPS.h>
 #include <AP_Math.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
-#endif
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 GPS         *gps;
-AP_GPS_Auto GPS(hal.uartB, &gps);
+AP_GPS_Auto GPS(&gps);
 
 #define T6 1000000
 #define T7 10000000
@@ -51,7 +49,7 @@ void setup()
 
     hal.console->println("GPS AUTO library test");
     gps = &GPS;
-    gps->init(GPS::GPS_ENGINE_AIRBORNE_2G);
+    gps->init(hal.uartB, GPS::GPS_ENGINE_AIRBORNE_2G);
 }
 
 void loop()
diff --git a/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde b/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
index 82b02725b5..a5bb1c3491 100644
--- a/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
+++ b/libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
@@ -15,13 +15,9 @@
 #include <AP_GPS.h>
 #include <AP_Math.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
-#endif
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-AP_GPS_MTK16 gps(hal.uartB);
+AP_GPS_MTK16 gps;
 #define T6 1000000
 #define T7 10000000
 
@@ -31,7 +27,7 @@ void setup()
     gps.print_errors = true;
 
     hal.console->println("GPS MTK library test");
-    gps.init();  // GPS Initialization
+    gps.init(hal.uartB);  // GPS Initialization
 }
 
 void loop()
diff --git a/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde b/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
index 660d39d053..ff1387312c 100644
--- a/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
+++ b/libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
@@ -11,14 +11,12 @@
 #include <AP_HAL.h>
 #include <AP_GPS.h>
 #include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_Empty.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-#endif
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-AP_GPS_NMEA NMEA_gps(hal.uartB);
+AP_GPS_NMEA NMEA_gps;
 GPS *gps = &NMEA_gps;
 
 #define T6 1000000
@@ -52,7 +50,7 @@ void setup()
     for (uint8_t i = 0; i < sizeof(sirf_to_nmea); i++)
         hal.uartB->write(sirf_to_nmea[i]);
 
-    gps->init();
+    gps->init(hal.uartB);
 }
 
 void loop()
diff --git a/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde b/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
index 611c98434a..4bb16e418a 100644
--- a/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
+++ b/libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
@@ -15,13 +15,9 @@
 #include <AP_GPS.h>
 #include <AP_Math.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
-#elif CONFIG_HAL_BOARD == HAL_BOARD_APM1
-const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
-#endif
+const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-AP_GPS_UBLOX gps(hal.uartB);
+AP_GPS_UBLOX gps;
 #define T6 1000000
 #define T7 10000000
 
@@ -31,7 +27,7 @@ void setup()
     gps.print_errors = true;
 
     hal.console->println("GPS UBLOX library test");
-    gps.init(GPS::GPS_ENGINE_AIRBORNE_2G);       // GPS Initialization
+    gps.init(hal.uartB, GPS::GPS_ENGINE_AIRBORNE_2G);       // GPS Initialization
 }
 
 void loop()