diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/defaults.parm
index ef256d5d60..a92cc2f6c9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/defaults.parm
@@ -5,3 +5,5 @@ BATT_AMP_PERVLT 39.877
 BATT_VOLT_MULT 12.02
 BATT2_AMP_PERVLT 39.877
 BATT2_VOLT_MULT 12.02
+
+INS_FAST_SAMPLE 7
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef-bl.dat
index 68985c4947..2b84193868 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef-bl.dat
@@ -4,6 +4,9 @@
 
 include ../fmuv3/hwdef-bl.dat
 
+# board ID for firmware load
+APJ_BOARD_ID 1003
+
 # USB setup
 USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
 USB_PRODUCT 0x1101
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat
index 350233bb71..4d02d1cdf1 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat
@@ -4,5 +4,14 @@
 
 include ../CubeBlack/hwdef.dat
 
+# board ID for firmware load
+APJ_BOARD_ID 1003
+
+undef IMU
+
+IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
+IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
+IMU Invensense SPI:mpu9250 ROTATION_YAW_270
+
 undef ROMFS
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin