diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 382124c85f..fcd51d6ccb 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -105,6 +105,7 @@ version 2.1 of the License, or (at your option) any later version.
 
 #include <AP_HAL_AVR.h>
 #include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
 #include <AP_HAL_Empty.h>
 #include "compat.h"
 
@@ -155,6 +156,8 @@ DataFlash_APM1 DataFlash;
 DataFlash_APM2 DataFlash;
 #elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 DataFlash_SITL DataFlash;
+#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
+DataFlash_Empty DataFlash;
 #endif
 
 
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index bd3f2fb96f..22b53370ee 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -198,7 +198,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
 
 static void NOINLINE send_meminfo(mavlink_channel_t chan)
 {
-#if CONFIG_HAL_BOARD != HAL_BOARD_AVR_SITL
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
     extern unsigned __brkval;
     mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
 #endif
diff --git a/APMrover2/config.h b/APMrover2/config.h
index 81db8c8ece..fb1df0a85f 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -110,6 +110,22 @@
 # define USB_MUX_PIN -1
 # define BATTERY_PIN_1	  1
 # define CURRENT_PIN_1	  2
+#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
+# define CONFIG_INS_TYPE   CONFIG_INS_SITL
+# define CONFIG_PUSHBUTTON DISABLED
+# define CONFIG_RELAY      DISABLED
+# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
+# define A_LED_PIN        27
+# define B_LED_PIN        26
+# define C_LED_PIN        25
+# define LED_ON           LOW
+# define LED_OFF          HIGH
+# define SLIDE_SWITCH_PIN (-1)
+# define PUSHBUTTON_PIN   (-1)
+# define CLI_SLIDER_ENABLED DISABLED
+# define USB_MUX_PIN -1
+# define BATTERY_PIN_1	  -1
+# define CURRENT_PIN_1	  -1
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL