diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/defaults.parm
similarity index 100%
rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/defaults.parm
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef-bl.dat
similarity index 90%
rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef-bl.dat
index 183c98b57b..6e6f3b172a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef-bl.dat
@@ -1,4 +1,4 @@
-include ../CubePilot-CANMod/hwdef-bl.dat
+include ../CubeNode/hwdef-bl.dat
 
 # Ethernet
 PC1  ETH_MDC            ETH1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat
similarity index 92%
rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat
index abf8516ffb..b31cf596f2 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode-ETH/hwdef.dat
@@ -1,4 +1,4 @@
-include ../CubePilot-CANMod/hwdef.dat
+include ../CubeNode/hwdef.dat
 
 # we need RTS/CTS for the PPP link
 undef PE0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/CubeNode_PinOut.pdf b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/CubeNode_PinOut.pdf
similarity index 100%
rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/CubeNode_PinOut.pdf
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode/CubeNode_PinOut.pdf
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef-bl.dat
similarity index 100%
rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef-bl.dat
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef-bl.dat
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat
similarity index 88%
rename from libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
rename to libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat
index f0d426ad8e..58464c44be 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubePilot-CANMod/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeNode/hwdef.dat
@@ -70,12 +70,26 @@ define BOARD_PHY_ID  MII_LAN8720_ID
 define BOARD_PHY_RMII
 define HAL_PERIPH_ENABLE_NETWORKING
 
+# IMU
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+PG15 IMU_CS CS
+
+SPIDEV icm45686  SPI3  DEVID4  IMU_CS   MODE0  24*MHZ  24*MHZ
+
+IMU Invensensev3 SPI:icm45686 ROTATION_NONE
+
+define HAL_PERIPH_ENABLE_IMU
+
+# Periph GCS
+define HAL_GCS_ENABLED 1
+
 #################################
 # AP_Periph - configurations specific to this App
 #################################
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
-define AP_INERTIALSENSOR_ENABLED 0
 
 define AP_NETWORKING_MAX_INSTANCES 4