diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index f7def2965b..da18c2b172 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -405,6 +405,12 @@ void AP_Baro::init(void)
                                           std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_INT_NAME))));
         break;
 
+    case AP_BoardConfig::PX4_BOARD_AEROFC:
+        ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
+                                          std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
+                                          AP_Baro_MS56XX::BARO_MS5607));
+        break;
+
     default:
         drivers[0] = new AP_Baro_PX4(*this);
         _num_drivers = 1;
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index e8ae00a5ea..9dbf53a6eb 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -324,6 +324,7 @@ void AP_BoardConfig::px4_setup_drivers(void)
     case PX4_BOARD_PHMINI:
     case PX4_BOARD_AUAV21:
     case PX4_BOARD_PH2SLIM:
+    case PX4_BOARD_AEROFC:
         break;
     default:
         px4_sensor_error("Unknown board type");
diff --git a/libraries/AP_HAL/board/px4.h b/libraries/AP_HAL/board/px4.h
index 044ef98b7a..5cbabc45f1 100644
--- a/libraries/AP_HAL/board/px4.h
+++ b/libraries/AP_HAL/board/px4.h
@@ -76,3 +76,7 @@
 #define HAL_BARO_MS5611_I2C_BUS  0
 #endif
 
+#ifdef CONFIG_ARCH_BOARD_AEROFC_V1
+#define HAL_BARO_MS5607_I2C_ADDR 0x77
+#define HAL_BARO_MS5607_I2C_BUS  0
+#endif
diff --git a/libraries/AP_HAL_PX4/GPIO.cpp b/libraries/AP_HAL_PX4/GPIO.cpp
index beab2ac02e..ad78f4bb5e 100644
--- a/libraries/AP_HAL_PX4/GPIO.cpp
+++ b/libraries/AP_HAL_PX4/GPIO.cpp
@@ -46,6 +46,7 @@ void PX4GPIO::init()
     }
 #endif
 #endif
+#if !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
     _tone_alarm_fd = open(TONEALARM0_DEVICE_PATH, O_WRONLY);
     if (_tone_alarm_fd == -1) {
         AP_HAL::panic("Unable to open " TONEALARM0_DEVICE_PATH);
@@ -55,6 +56,7 @@ void PX4GPIO::init()
     if (_gpio_fmu_fd == -1) {
         AP_HAL::panic("Unable to open GPIO");
     }
+#endif
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
     if (ioctl(_gpio_fmu_fd, GPIO_CLEAR, GPIO_EXT_1) != 0) {
         hal.console->printf("GPIO: Unable to setup GPIO_1\n");