diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 4831aeaf91..2548958272 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -68,6 +68,7 @@
 #define HAL_BOARD_SUBTYPE_ESP32_TOMTE76         6005
 #define HAL_BOARD_SUBTYPE_ESP32_NICK            6006
 #define HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT        6007
+#define HAL_BOARD_SUBTYPE_ESP32_S3EMPTY         6008
 
 /* InertialSensor driver types */
 #define HAL_INS_NONE         0
diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
index 02a39cfc7a..5aa515e614 100644
--- a/libraries/AP_HAL/board/esp32.h
+++ b/libraries/AP_HAL/board/esp32.h
@@ -15,6 +15,10 @@
 #include "esp32nick.h" //Nick K. on discord
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3DEVKIT
 #include "esp32s3devkit.h" //Nick K. on discord
+#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_ESP32_S3EMPTY
+#include "esp32s3empty.h"
+#else
+#error "Invalid CONFIG_HAL_BOARD_SUBTYPE for esp32"
 #endif
 
 #define HAL_BOARD_NAME "ESP32"