diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 8ccb521498..bc3f62e90f 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -551,7 +551,11 @@ def add_dynamic_boards_esp32():
             continue
         hwdef = os.path.join(dirname, d, 'hwdef.dat')
         if os.path.exists(hwdef):
-            newclass = type(d, (esp32,), {'name': d})
+            mcu_esp32s3 = True if (d[0:7] == "esp32s3") else False
+            if mcu_esp32s3:
+                newclass = type(d, (esp32s3,), {'name': d})
+            else:
+                newclass = type(d, (esp32,), {'name': d})
 
 def get_boards_names():
     add_dynamic_boards_chibios()
@@ -894,6 +898,9 @@ class esp32(Board):
     def get_name(self):
         return self.__class__.__name__
 
+class esp32s3(esp32):
+    abstract = True
+    toolchain = 'xtensa-esp32s3-elf'
 
 class chibios(Board):
     abstract = True
diff --git a/Tools/ardupilotwaf/esp32.py b/Tools/ardupilotwaf/esp32.py
index 1993a26d0e..20a9528860 100644
--- a/Tools/ardupilotwaf/esp32.py
+++ b/Tools/ardupilotwaf/esp32.py
@@ -18,8 +18,8 @@ import pickle
 import subprocess
 
 def configure(cfg):
-
-    target = "esp32"
+    mcu_esp32s3 = True if (cfg.variant[0:7] == "esp32s3") else False
+    target = "esp32s3" if mcu_esp32s3 else "esp32"
     bldnode = cfg.bldnode.make_node(cfg.variant)
     def srcpath(path):
         return cfg.srcnode.make_node(path).abspath()
@@ -37,7 +37,7 @@ def configure(cfg):
     env.ESP_IDF_PREFIX_REL = 'esp-idf'
 
     prefix_node = bldnode.make_node(env.ESP_IDF_PREFIX_REL)
-
+    env.ESP32_TARGET = target
     env.BUILDROOT = bldpath('')
     env.SRCROOT = srcpath('')
     env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
@@ -64,6 +64,7 @@ def pre_build(self):
     lib_vars['ARDUPILOT_CMD'] = self.cmd
     lib_vars['ARDUPILOT_LIB'] = self.bldnode.find_or_declare('lib/').abspath()
     lib_vars['ARDUPILOT_BIN'] = self.bldnode.find_or_declare('lib/bin').abspath()
+    target = self.env.ESP32_TARGET
     esp_idf = self.cmake(
             name='esp-idf',
             cmake_vars=lib_vars,