diff --git a/ArduPlane/APM_Config.h b/ArduPlane/APM_Config.h
index 5c60557217..e470d74eac 100644
--- a/ArduPlane/APM_Config.h
+++ b/ArduPlane/APM_Config.h
@@ -4,13 +4,9 @@
 // you wish to change any of the setup parameters from their default
 // values, place the appropriate #define statements here.
 
-//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2
-
-// Ordinary users should please ignore the following define.
-// APM2_BETA_HARDWARE is used to support early (September-October 2011) APM2
-// hardware which had the BMP085 barometer onboard. Only a handful of
-// developers have these boards.
-//#define APM2_BETA_HARDWARE
+// If you used to define your CONFIG_APM_HARDWARE setting here, it is no
+// longer valid! You should switch to using CONFIG_HAL_BOARD via the HAL_BOARD
+// flag in your local config.mk instead.
 
 // The following are the recommended settings for Xplane
 // simulation. Remove the leading "/* and trailing "*/" to enable:
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 8428995336..6ea29e14eb 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -72,7 +72,7 @@
 
 AP_HAL::BetterStream* cliSerial;
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM2;
 #else
 const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
@@ -116,7 +116,7 @@ static void update_events(void);
 ////////////////////////////////////////////////////////////////////////////////
 // DataFlash
 ////////////////////////////////////////////////////////////////////////////////
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 DataFlash_APM2 DataFlash;
 #else
 DataFlash_APM1 DataFlash;
@@ -155,7 +155,7 @@ SITL sitl;
  #else
 
   #if CONFIG_BARO == AP_BARO_BMP085
-   # if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+   # if CONFIG_HAL_BOARD == HAL_BOARD_APM2
 static AP_Baro_BMP085          barometer(true);
    # else
 static AP_Baro_BMP085          barometer(false);
@@ -920,7 +920,7 @@ static void slow_loop()
     case 1:
         slow_loopCounter++;
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
         update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
 #else
         update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index cf4b328dd0..272b5b7ee0 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -512,7 +512,7 @@ static void set_servos(void)
     g.rc_6.output_ch(CH_6);
     g.rc_7.output_ch(CH_7);
     g.rc_8.output_ch(CH_8);
- # if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
+ # if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     g.rc_9.output_ch(CH_9);
     g.rc_10.output_ch(CH_10);
     g.rc_11.output_ch(CH_11);
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 5230d21819..891320f092 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -368,7 +368,7 @@ public:
     RC_Channel_aux rc_6;
     RC_Channel_aux rc_7;
     RC_Channel_aux rc_8;
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     RC_Channel_aux rc_9;
     RC_Channel_aux rc_10;
     RC_Channel_aux rc_11;
@@ -403,7 +403,7 @@ public:
         rc_6                                    (CH_6),
         rc_7                                    (CH_7),
         rc_8                                    (CH_8),
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
         rc_9                                    (CH_9),
         rc_10                                   (CH_10),
         rc_11                                   (CH_11),
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index 963bf863ef..637c16c16a 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -622,7 +622,7 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp
     GGROUP(rc_8,                    "RC8_", RC_Channel_aux),
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     // @Group: RC9_
     // @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp, ../libraries/RC_Channel/RC_Channel.cpp
     GGROUP(rc_9,                    "RC9_", RC_Channel_aux),
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 15b9b242da..52528a93d7 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -50,14 +50,14 @@
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 
+#ifdef CONFIG_APM_HARDWARE
+#error CONFIG_APM_HARDWARE option is depreated! use CONFIG_HAL_BOARD instead.
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 // APM HARDWARE
 //
 
-#ifndef CONFIG_APM_HARDWARE
- # define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
-#endif
-
 #if defined( __AVR_ATmega1280__ )
  // default choices for a 1280. We can't fit everything in, so we 
  // make some popular choices
@@ -86,7 +86,7 @@
 // APM2 HARDWARE DEFAULTS
 //
 
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
  # define CONFIG_INS_TYPE   CONFIG_INS_MPU6000
  # define CONFIG_RELAY      DISABLED
  # define MAG_ORIENTATION   AP_COMPASS_APM2_SHIELD
@@ -108,7 +108,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // LED and IO Pins
 //
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
  # define A_LED_PIN        37
  # define B_LED_PIN        36
  # define C_LED_PIN        35
@@ -118,7 +118,7 @@
  # define CONFIG_RELAY     ENABLED
  # define BATTERY_VOLT_PIN      0      // Battery voltage on A0
  # define BATTERY_CURR_PIN      1      // Battery current on A1
-#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2
  # define A_LED_PIN        27
  # define B_LED_PIN        26
  # define C_LED_PIN        25
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 0d96fc7368..4b2b7f30a7 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -225,9 +225,6 @@ enum gcs_severity {
 #define CONFIG_INS_OILPAN 1
 #define CONFIG_INS_MPU6000 2
 
-#define APM_HARDWARE_APM1  1
-#define APM_HARDWARE_APM2 2
-
 #define AP_BARO_BMP085   1
 #define AP_BARO_MS5611   2
 
diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
index 2cddb7917a..730e788dff 100644
--- a/ArduPlane/radio.pde
+++ b/ArduPlane/radio.pde
@@ -36,10 +36,10 @@ static void init_rc_in()
     rc_ch[CH_8] = &g.rc_8;
 
     //set auxiliary ranges
-#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1
-    update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
-#else
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_9, &g.rc_10, &g.rc_11);
+#else
+    update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
 #endif
 }
 
@@ -62,7 +62,7 @@ static void init_rc_out()
     hal.rcout->write(CH_7,   g.rc_7.radio_trim);
     hal.rcout->write(CH_8,   g.rc_8.radio_trim);
 
-#if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     hal.rcout->write(CH_9,   g.rc_9.radio_trim);
     hal.rcout->write(CH_10,  g.rc_10.radio_trim);
     hal.rcout->write(CH_11,  g.rc_11.radio_trim);