diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 4f4a599ede..7051293aa5 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -191,6 +191,7 @@ bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
 {
     #if CONFIG_HAL_BOARD != HAL_BOARD_VRBRAIN
     #ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
+    #ifndef CONFIG_ARCH_BOARD_AEROFC_V1
     // check board voltage
     if ((checks_to_perform == ARMING_CHECK_ALL) || (checks_to_perform & ARMING_CHECK_VOLTAGE)) {
         if (hal.analogin->board_voltage() < BOARD_VOLTAGE_MIN || hal.analogin->board_voltage() > BOARD_VOLTAGE_MAX) {
@@ -202,6 +203,7 @@ bool AP_Arming_Copter::board_voltage_checks(bool display_failure)
     }
     #endif
     #endif
+    #endif
 
     Parameters &g = copter.g;
 
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 26e73b7ed9..79c96b5c9c 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -508,3 +508,11 @@ class px4_v4(px4):
         self.bootloader_name = 'px4fmuv4_bl.bin'
         self.board_name = 'px4fmu-v4'
         self.romfs_exclude(['oreoled.bin'])
+
+class aerofc_v1(px4):
+    name = 'aerofc-v1'
+    def __init__(self):
+        super(aerofc_v1, self).__init__()
+        self.bootloader_name = 'aerofcv1_bl.bin'
+        self.board_name = 'aerofc-v1'
+        self.romfs_exclude(['oreoled.bin'])
diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_aerofc-v1_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_aerofc-v1_apm.cmake
new file mode 100644
index 0000000000..8e2529681a
--- /dev/null
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_aerofc-v1_apm.cmake
@@ -0,0 +1,11 @@
+include(configs/nuttx_px4fmu-common_apm)
+
+list(APPEND config_module_list
+    drivers/boards/aerofc-v1
+    lib/rc
+)
+
+list(REMOVE_ITEM config_module_list
+    drivers/stm32/adc
+    drivers/stm32/tone_alarm
+)
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 5d5ed0b4cc..d641881741 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -38,6 +38,11 @@
 #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
 #define BOARD_PWM_COUNT_DEFAULT 6
 #define BOARD_SER1_RTSCTS_DEFAULT 2
+#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
+#define BOARD_PWM_COUNT_DEFAULT 0
+#define BOARD_SER1_RTSCTS_DEFAULT 0
+# undef BOARD_SAFETY_ENABLE_DEFAULT
+# define BOARD_SAFETY_ENABLE_DEFAULT 0
 #else // V2
 #define BOARD_PWM_COUNT_DEFAULT 4
 #define BOARD_SER1_RTSCTS_DEFAULT 2
@@ -154,7 +159,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Board type
     // @Description: This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
-    // @Values: 0:AUTO,1:PX4V1,2:Pixhawk,3:Pixhawk2,4:Pixracer,5:PixhawkMini,6:Pixhawk2Slim,7:VRBrain 5.1,8:VRBrain 5.2,9:VR Micro Brain 5.1,10:VR Micro Brain 5.2,11:VRBrain Core 1.0,12:VRBrain 5.4,20:AUAV2.1
+    // @Values: 0:AUTO,1:PX4V1,2:Pixhawk,3:Pixhawk2,4:Pixracer,5:PixhawkMini,6:Pixhawk2Slim,7:VRBrain 5.1,8:VRBrain 5.2,9:VR Micro Brain 5.1,10:VR Micro Brain 5.2,11:VRBrain Core 1.0,12:VRBrain 5.4,13:Intel Aero FC,20:AUAV2.1
     // @RebootRequired: True
     // @User: Advanced
     AP_GROUPINFO("TYPE", 9, AP_BoardConfig, px4.board_type, BOARD_TYPE_DEFAULT),
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index b34160618e..880ddbdd87 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -46,6 +46,7 @@ public:
         PX4_BOARD_PIXRACER = 4,
         PX4_BOARD_PHMINI   = 5,
         PX4_BOARD_PH2SLIM  = 6,
+        PX4_BOARD_AEROFC   = 7,
         PX4_BOARD_AUAV21   = 20,
         PX4_BOARD_OLDDRIVERS = 100,
 #endif
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index 8f37be0e4a..e8ae00a5ea 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -402,6 +402,7 @@ void AP_BoardConfig::px4_setup_px4io(void)
  */
 void AP_BoardConfig::px4_setup_peripherals(void)
 {
+#ifndef CONFIG_ARCH_BOARD_AEROFC_V1
     // always start adc
     if (px4_start_driver(adc_main, "adc", "start")) {
         hal.analogin->init();
@@ -409,13 +410,17 @@ void AP_BoardConfig::px4_setup_peripherals(void)
     } else {
         px4_sensor_error("no ADC found");
     }
+#endif
 
-#ifndef CONFIG_ARCH_BOARD_PX4FMU_V4
+#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V4) && \
+    !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     px4_setup_px4io();
 #endif
 
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
     const char *fmu_mode = "mode_serial";
+#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
+    const char *fmu_mode = "mode_rcin";
 #else
     const char *fmu_mode = "mode_pwm4";
 #endif
@@ -504,6 +509,9 @@ void AP_BoardConfig::px4_autodetect(void)
     // only one choice
     px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);    
     hal.console->printf("Detected Pixracer\n");
+#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
+    px4.board_type.set_and_notify(PX4_BOARD_AEROFC);
+    hal.console->printf("Detected Aero FC\n");
 #endif
     
 }
diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 2ff96201d0..f83736d089 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -43,6 +43,7 @@
 #define HAL_BOARD_SUBTYPE_PX4_V2           2001
 #define HAL_BOARD_SUBTYPE_PX4_V4           2002
 #define HAL_BOARD_SUBTYPE_PX4_V3           2003
+#define HAL_BOARD_SUBTYPE_PX4_AEROFC_V1    2004
 
 /* HAL VRBRAIN sub-types, starting at 4000 */
 #define HAL_BOARD_SUBTYPE_VRBRAIN_V45      4000
diff --git a/libraries/AP_HAL/board/px4.h b/libraries/AP_HAL/board/px4.h
index f645c8a323..044ef98b7a 100644
--- a/libraries/AP_HAL/board/px4.h
+++ b/libraries/AP_HAL/board/px4.h
@@ -31,6 +31,12 @@
 #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_V4
 #define HAL_STORAGE_SIZE            16384
 #define HAL_WITH_UAVCAN             1
+#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
+#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_PX4_AEROFC_V1
+#define HAL_STORAGE_SIZE            16384
+#define USE_FLASH_STORAGE           1
+// we don't have any sdcard
+#undef HAL_OS_POSIX_IO
 #else
 #error "Unknown PX4 board type"
 #endif
diff --git a/libraries/AP_HAL_PX4/AnalogIn.cpp b/libraries/AP_HAL_PX4/AnalogIn.cpp
index af0b1aee12..2d59e0cff3 100644
--- a/libraries/AP_HAL_PX4/AnalogIn.cpp
+++ b/libraries/AP_HAL_PX4/AnalogIn.cpp
@@ -58,9 +58,11 @@ static const struct {
     { 13,  3.3f/4096  },    // AUX ADC pin 4
     { 14,  3.3f/4096  },    // AUX ADC pin 3
     { 15,  6.6f/4096  },    // analog airspeed sensor, 2:1 scaling
+#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
 #else
 #error "Unknown board type for AnalogIn scaling"
 #endif
+    { 0, 0.f          },
 };
 
 using namespace PX4;
@@ -114,7 +116,7 @@ float PX4AnalogSource::read_latest()
 float PX4AnalogSource::_pin_scaler(void)
 {
     float scaling = PX4_VOLTAGE_SCALING;
-    uint8_t num_scalings = ARRAY_SIZE(pin_scaling);
+    uint8_t num_scalings = ARRAY_SIZE(pin_scaling) - 1;
     for (uint8_t i=0; i<num_scalings; i++) {
         if (pin_scaling[i].pin == _pin) {
             scaling = pin_scaling[i].scaling;
diff --git a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
index 4ede6088f6..bac7a6c00d 100644
--- a/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
+++ b/libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
@@ -57,6 +57,15 @@ static PX4::SPIDeviceManager spi_mgr_instance;
 #define UARTD_DEFAULT_DEVICE "/dev/ttyS2"
 #define UARTE_DEFAULT_DEVICE "/dev/ttyS6" // frsky telem
 #define UARTF_DEFAULT_DEVICE "/dev/ttyS0" // wifi
+#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
+#define UARTA_DEFAULT_DEVICE "/dev/ttyS1" // Aero
+#define UARTB_DEFAULT_DEVICE "/dev/ttyS2" // GPS
+#define UARTC_DEFAULT_DEVICE "/dev/ttyS4" // Telem
+// ttyS0: ESC
+// ttyS3: RC
+#define UARTD_DEFAULT_DEVICE "/dev/null"
+#define UARTE_DEFAULT_DEVICE "/dev/null"
+#define UARTF_DEFAULT_DEVICE "/dev/null"
 #else
 #define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
 #define UARTB_DEFAULT_DEVICE "/dev/ttyS3"
diff --git a/libraries/AP_HAL_PX4/Util.cpp b/libraries/AP_HAL_PX4/Util.cpp
index 6e4dea5693..5b4e203133 100644
--- a/libraries/AP_HAL_PX4/Util.cpp
+++ b/libraries/AP_HAL_PX4/Util.cpp
@@ -114,6 +114,8 @@ bool PX4Util::get_system_id(char buf[40])
     const char *board_type = "PX4v2";
 #elif defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
     const char *board_type = "PX4v4";
+#elif defined(CONFIG_ARCH_BOARD_AEROFC_V1)
+    const char *board_type = "AEROFCv1";
 #else
     const char *board_type = "PX4v?";
 #endif
@@ -236,7 +238,8 @@ extern "C" {
 */
 void *PX4Util::dma_allocate(size_t size)
 {
-#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
+#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
+    !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     return fat_dma_alloc(size);
 #else
     return malloc(size);
@@ -244,7 +247,8 @@ void *PX4Util::dma_allocate(size_t size)
 }
 void PX4Util::dma_free(void *ptr, size_t size)
 {
-#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
+#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
+    !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     fat_dma_free(ptr, size);
 #else
     return free(ptr);
diff --git a/libraries/AP_RPM/RPM_PX4_PWM.cpp b/libraries/AP_RPM/RPM_PX4_PWM.cpp
index 1adfe8cf78..fe61686104 100644
--- a/libraries/AP_RPM/RPM_PX4_PWM.cpp
+++ b/libraries/AP_RPM/RPM_PX4_PWM.cpp
@@ -46,7 +46,8 @@ extern "C" {
 AP_RPM_PX4_PWM::AP_RPM_PX4_PWM(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
 	AP_RPM_Backend(_ap_rpm, instance, _state)
 {
-#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
+#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
+    !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     if (AP_BoardConfig::px4_start_driver(pwm_input_main, "pwm_input", "start")) {
         hal.console->printf("started pwm_input driver\n");
     }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
index 0d376c92d7..718913a644 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.cpp
@@ -85,7 +85,8 @@ AP_RangeFinder_PX4_PWM::~AP_RangeFinder_PX4_PWM()
 */
 bool AP_RangeFinder_PX4_PWM::detect(RangeFinder &_ranger, uint8_t instance)
 {
-#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
+#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
+    !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     if (AP_BoardConfig::px4_start_driver(pwm_input_main, "pwm_input", "start")) {
         hal.console->printf("started pwm_input driver\n");
     }