diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index a2ec72bfe9..1b20de8156 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -212,6 +212,23 @@
 #define HAL_LINUX_HEAT_KI 6
 #define HAL_LINUX_HEAT_PERIOD_NS 125000
 #define HAL_LINUX_HEAT_TARGET_TEMP 50
+#define BEBOP_CAMV_PWM  9
+#define BEBOP_CAMV_PWM_FREQ 43333333
+#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
+#define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
+#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
+#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
+#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
+#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
+#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
+#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
+#define HAL_OPTFLOW_ONBOARD_NBUFS 8;
+#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
+#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
+#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
+/* focal length 3.6 um, 2x binning in each direction
+ * 240x240 crop rescaled to 64x64 */
+#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.5 / (3.6 * 2.0 * 240 / 64))
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
 #define HAL_BOARD_LOG_DIRECTORY "/var/APM/logs"
 #define HAL_BOARD_TERRAIN_DIRECTORY "/var/APM/terrain"