diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat
index 00d0e57b01..f24632a34c 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef-bl.dat
@@ -7,11 +7,6 @@ MCU STM32H7xx STM32H743xx
 # crystal frequency
 OSCILLATOR_HZ 16000000
 
-# USB setup
-USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
-USB_PRODUCT 0x0053
-USB_STRING_MANUFACTURER "Holybro"
-
 # board ID for firmware load
 APJ_BOARD_ID 53
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index a1c76a538a..a45bd3ba27 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -10,14 +10,13 @@ OSCILLATOR_HZ 16000000
 # ChibiOS system timer
 STM32_ST_USE_TIMER 2
 
-# USB setup
-USB_VENDOR 0x3162 # ONLY FOR USE BY Holybro
-USB_PRODUCT 0x0053
-USB_STRING_MANUFACTURER "Holybro"
-
 # board ID for firmware load
 APJ_BOARD_ID 53
 
+# enable board sub-type detection for FMUV6
+define HAL_CHIBIOS_ARCH_FMUV6 1
+define AP_FEATURE_BOARD_DETECT 1
+
 FLASH_RESERVE_START_KB 128
 
 # to be compatible with the px4 bootloader we need
@@ -278,7 +277,8 @@ define HAL_HAVE_PIXRACER_LED
 
 # ID pins
 PG0 HW_VER_REV_DRIVE OUTPUT LOW
-# PH3 HW_VER_SENS ADC1 SCALE(1)
+# PH3 HW_VER_SENS ADC3 SCALE(1)
+# PH4 HW_REV_SENS ADC3 SCALE(1)
 
 # PWM output for buzzer
 PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
@@ -286,12 +286,18 @@ PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
 # RC input
 PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
 
-# barometers
+# barometers (Holybro 6X)
 BARO BMP388 I2C:2:0x76
 BARO BMP388 I2C:0:0x77
 
+# barometers (CUAV 6X)
+BARO ICP201XX I2C:0:0x64
+BARO ICP201XX I2C:2:0x63
+
 # compass
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# builtin compass on Holybro 6X
 COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
 
 # builtin compass on CUAV 6X