diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/defaults.parm
index 38f10d7f23..eab611c1c0 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/defaults.parm
@@ -1,5 +1,7 @@
 # setup the temperature compensation
 BRD_IMU_TARGTEMP 45
+BRD_IMUHEAT_P 50
+BRD_IMUHEAT_I 0.07
 
 # turn on the CAN power monitoring(default)
 CAN_P1_DRIVER 1
@@ -11,3 +13,7 @@ BATT_CURR_PIN 17
 BATT_VOLT_MULT 18.000
 BATT_AMP_PERVLT 24.000
 
+# turn on CAN RGB LED
+NTF_LED_TYPES 231
+
+EK2_IMU_MASK 7
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat
index 2ef6c0e150..94fb7aedd7 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef-bl.dat
@@ -22,9 +22,9 @@ FLASH_BOOTLOADER_LOAD_KB 128
 # ChibiOS system timer
 STM32_ST_USE_TIMER 2
 
-PD8 LED_RED OUTPUT OPENDRAIN HIGH # red
-PC7 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
-PC6 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green 
+PI5 LED_RED OUTPUT OPENDRAIN HIGH # red
+PI6 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green
+PI7 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
 
 define HAL_LED_ON 0
 
@@ -59,4 +59,4 @@ PG10 MS5611_IMU_CS CS
 PI8  MS5611_BOARD_CS CS
 PI4  EXT1_CS1 CS
 PI10 EXT1_CS2 CS
-PI6  EXT1_CS3 CS
+PI13 EXT1_CS3 CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
index 7b48c78b1b..80bdd2a14c 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-Nora/hwdef.dat
@@ -78,7 +78,7 @@ PI8  MS5611_BOARD_CS CS
 # external CS pins, SPI5 connector
 PI4  EXT1_CS1 CS
 PI10 EXT1_CS2 CS
-PI6  EXT1_CS3 CS
+PI13 EXT1_CS3 CS
 
 # I2C buses
 
@@ -172,11 +172,8 @@ PE14 TIM1_CH4  TIM1  PWM(12) GPIO(61)
 PH6  TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
 PH9  TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
 
-# WS2812 LED
-PI5 TIM8_CH1 TIM8 PWM(15) GPIO(64)
-
-# allow for 15 PWMs by default
-define BOARD_PWM_COUNT_DEFAULT 15
+# allow for 14 PWMs by default
+define BOARD_PWM_COUNT_DEFAULT 14
 
 # PWM output for buzzer
 PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
@@ -223,14 +220,14 @@ PJ4  VDD_5V_PERIPH_OC INPUT PULLUP
 PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH
 
 # SPI devices
-SPIDEV rm3100         SPI1 DEVID1  RM3100_CS       MODE3  2*MHZ  8*MHZ
-SPIDEV icm20689       SPI1 DEVID2  ICM20689_CS     MODE3  2*MHZ  8*MHZ
+SPIDEV icm20689       SPI1 DEVID1  ICM20689_CS     MODE3  2*MHZ  8*MHZ
 SPIDEV bmi088_a       SPI4 DEVID2  BMI088_A_CS     MODE3  10*MHZ 10*MHZ
 SPIDEV bmi088_g       SPI4 DEVID3  BMI088_G_CS     MODE3  10*MHZ 10*MHZ
 SPIDEV ms5611_imu     SPI4 DEVID1  MS5611_IMU_CS   MODE3  20*MHZ 20*MHZ
 SPIDEV ms5611_board   SPI6 DEVID1  MS5611_BOARD_CS MODE3  20*MHZ 20*MHZ
 SPIDEV icm20649       SPI6 DEVID2  ICM20649_CS     MODE3  2*MHZ  8*MHZ
 SPIDEV ramtron        SPI2 DEVID1  FRAM_CS         MODE3  8*MHZ  8*MHZ 
+SPIDEV rm3100         SPI2 DEVID2  RM3100_CS       MODE3  2*MHZ  8*MHZ
 
 # two baro
 BARO MS56XX SPI:ms5611_imu
@@ -262,9 +259,9 @@ PD2 SDMMC1_CMD SDMMC1
 
 # red LED marked as B/E
 
-PD8 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
-PC6 LED_G1 OUTPUT OPENDRAIN LOW  GPIO(1)
-PC7 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+PI5 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PI6 LED_G1 OUTPUT OPENDRAIN LOW  GPIO(1)
+PI7 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
 
 define HAL_GPIO_A_LED_PIN 0
 define HAL_GPIO_B_LED_PIN 1