diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index d287541a38..aca79fcaf0 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -893,6 +893,16 @@ class bebop(linux):
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BEBOP',
         )
 
+class vnav(linux):
+    toolchain = 'arm-linux-gnueabihf'
+
+    def configure_env(self, cfg, env):
+        super(vnav, self).configure_env(cfg, env)
+
+        env.DEFINES.update(
+            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_VNAV',
+        )
+        
 class disco(linux):
     toolchain = 'arm-linux-gnueabihf'
 
diff --git a/Tools/scripts/firmware_version_decoder.py b/Tools/scripts/firmware_version_decoder.py
index 3ea63b0d5c..a3704e176d 100644
--- a/Tools/scripts/firmware_version_decoder.py
+++ b/Tools/scripts/firmware_version_decoder.py
@@ -62,6 +62,7 @@ class BoardSubType(enum.Enum):
     LINUX_RST_ZYNQ = 1021
     LINUX_POCKET = 1022
     LINUX_NAVIGATOR = 1023
+    LINUX_VNAV = 1024
 
     CHIBIOS_SKYVIPER_F412 = 5000
     CHIBIOS_FMUV3 = 5001