diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 2ce809e9ce..447f5e3ade 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -5,11 +5,13 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_RTC/AP_RTC.h>
 
+#ifndef AP_FEATURE_BOARD_DETECT
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN || defined(HAL_CHIBIOS_ARCH_FMUV3) || defined(HAL_CHIBIOS_ARCH_FMUV4) || defined(HAL_CHIBIOS_ARCH_FMUV5) || defined(HAL_CHIBIOS_ARCH_MINDPXV2) || defined(HAL_CHIBIOS_ARCH_FMUV4PRO) || defined(HAL_CHIBIOS_ARCH_BRAINV51) || defined(HAL_CHIBIOS_ARCH_BRAINV52) || defined(HAL_CHIBIOS_ARCH_UBRAINV51) || defined(HAL_CHIBIOS_ARCH_COREV10) || defined(HAL_CHIBIOS_ARCH_BRAINV54)
 #define AP_FEATURE_BOARD_DETECT 1
 #else
 #define AP_FEATURE_BOARD_DETECT 0
 #endif
+#endif
 
 #ifndef AP_FEATURE_RTSCTS
 #define AP_FEATURE_RTSCTS 0
@@ -88,6 +90,7 @@ public:
         VRX_BOARD_CORE10   = 36,
         VRX_BOARD_BRAIN54  = 38,
         PX4_BOARD_OLDDRIVERS = 100,
+        PX4_BOARD_FMUV6    = 39,
     };
 
     // set default value for BRD_SAFETY_MASK
diff --git a/libraries/AP_BoardConfig/board_drivers.cpp b/libraries/AP_BoardConfig/board_drivers.cpp
index 54dc89f19a..df0705c517 100644
--- a/libraries/AP_BoardConfig/board_drivers.cpp
+++ b/libraries/AP_BoardConfig/board_drivers.cpp
@@ -89,6 +89,7 @@ void AP_BoardConfig::board_setup_drivers(void)
     case PX4_BOARD_PIXHAWK:
     case PX4_BOARD_PIXHAWK2:
     case PX4_BOARD_FMUV5:
+    case PX4_BOARD_FMUV6:
     case PX4_BOARD_SP01:
     case PX4_BOARD_PIXRACER:
     case PX4_BOARD_PHMINI:
@@ -251,6 +252,9 @@ void AP_BoardConfig::board_autodetect(void)
 #elif defined(HAL_CHIBIOS_ARCH_FMUV5)
     state.board_type.set_and_notify(PX4_BOARD_FMUV5);
     hal.console->printf("Detected FMUv5\n");
+#elif defined(HAL_CHIBIOS_ARCH_FMUV6)
+    state.board_type.set_and_notify(PX4_BOARD_FMUV5);
+    hal.console->printf("Detected FMUv6\n");
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(HAL_CHIBIOS_ARCH_BRAINV51)
     state.board_type.set_and_notify(VRX_BOARD_BRAIN51);
     hal.console->printf("Detected VR Brain 5.1\n");