diff --git a/libraries/AP_HAL_VRBRAIN/AnalogIn.cpp b/libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
index 66c247884c..1f962b0ae7 100644
--- a/libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
+++ b/libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
@@ -41,23 +41,7 @@ static const struct {
     uint8_t pin;
     float scaling;
 } pin_scaling[] = {
-#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
-    {  0, 3.3f/4096 },
-    { 10, 3.3f/4096 },
-    { 11, 3.3f/4096 },
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
-    {  0, 3.3f/4096 },
-    { 10, 3.3f/4096 },
-    { 11, 3.3f/4096 },
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
-    {  0, 3.3f/4096 },
-    { 10, 3.3f/4096 },
-    { 11, 3.3f/4096 },
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
-    {  0, 3.3f/4096 },
-    { 10, 3.3f/4096 },
-    { 11, 3.3f/4096 },
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
+#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
     {  0, 3.3f/4096 },
     { 10, 3.3f/4096 },
     { 11, 3.3f/4096 },
diff --git a/libraries/AP_HAL_VRBRAIN/AnalogIn.h b/libraries/AP_HAL_VRBRAIN/AnalogIn.h
index 19128d1fd9..6d4677367b 100644
--- a/libraries/AP_HAL_VRBRAIN/AnalogIn.h
+++ b/libraries/AP_HAL_VRBRAIN/AnalogIn.h
@@ -10,19 +10,7 @@
 #define VRBRAIN_ANALOG_MAX_CHANNELS 16
 
 
-#if  defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
-#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
-#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
-#elif  defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
-#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
-#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
-#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
-#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
-#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
-#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)
+#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V51) || defined(CONFIG_ARCH_BOARD_VRBRAIN_V52) || defined(CONFIG_ARCH_BOARD_VRHERO_V10)
 #define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
 #define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V51)
@@ -31,9 +19,6 @@
 #elif defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
 #define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
 #define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     1
-#elif defined(CONFIG_ARCH_BOARD_VRHERO_V10)
-#define VRBRAIN_ANALOG_ORB_BATTERY_VOLTAGE_PIN     10
-#define VRBRAIN_ANALOG_ORB_BATTERY_CURRENT_PIN     11
 #endif
 
 class VRBRAIN::VRBRAINAnalogSource : public AP_HAL::AnalogSource {
diff --git a/libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp b/libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp
index af90a9da22..13c7677471 100644
--- a/libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp
+++ b/libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp
@@ -44,19 +44,7 @@ static VRBRAINUtil utilInstance;
 static VRBRAINGPIO gpioDriver;
 
 //We only support 3 serials for VRBRAIN at the moment
-#if  defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
-#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
-#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
-#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
-#define UARTD_DEFAULT_DEVICE "/dev/null"
-#define UARTE_DEFAULT_DEVICE "/dev/null"
-#elif  defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
-#define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
-#define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
-#define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
-#define UARTD_DEFAULT_DEVICE "/dev/null"
-#define UARTE_DEFAULT_DEVICE "/dev/null"
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
+#if  defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
 #define UARTA_DEFAULT_DEVICE "/dev/ttyACM0"
 #define UARTB_DEFAULT_DEVICE "/dev/ttyS1"
 #define UARTC_DEFAULT_DEVICE "/dev/ttyS2"
diff --git a/libraries/AP_HAL_VRBRAIN/Util.cpp b/libraries/AP_HAL_VRBRAIN/Util.cpp
index 3e3bac0e3a..1859e694d5 100644
--- a/libraries/AP_HAL_VRBRAIN/Util.cpp
+++ b/libraries/AP_HAL_VRBRAIN/Util.cpp
@@ -106,12 +106,8 @@ bool VRBRAINUtil::get_system_id(char buf[40])
     uint8_t serialid[12];
     memset(serialid, 0, sizeof(serialid));
     get_board_serial(serialid);
-#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V40)
-    const char *board_type = "VRBRAINv40";
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
+#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
     const char *board_type = "VRBRAINv45";
-#elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V50)
-    const char *board_type = "VRBRAINv50";
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V51)
     const char *board_type = "VRBRAINv51";
 #elif defined(CONFIG_ARCH_BOARD_VRBRAIN_V52)