diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 0ced0a58149a301efffb40b7128da95c0ea22996..b7a96b4fefa98202bc7eb72cff7725a015175cdd 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -57,8 +57,7 @@ public:
 #endif
         PX4_BOARD_TEST_V1 = 101,
         PX4_BOARD_TEST_V2 = 102,
-        PX4_BOARD_TEST_V3 = 103,
-        PX4_BOARD_TEST_V4 = 104,
+        PX4_BOARD_TEST_V3 = 103
     };
 #endif
 
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index 38fe761d21b20f1a711ab6f1041c0438fde48f0b..f9619bf5fcce461ce43d3275459b5bc9a92ca37a 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -659,11 +659,15 @@ void AP_BoardConfig::px4_setup_drivers(void)
     }
 #endif
 
+#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
+    px4.board_type.set_and_notify(PX4_BOARD_PIXRACER);
+#endif
+    
     if (px4.board_type == PX4_BOARD_TEST_V1 ||
         px4.board_type == PX4_BOARD_TEST_V2 ||
         px4.board_type == PX4_BOARD_TEST_V3 ||
-        px4.board_type == PX4_BOARD_TEST_V4 ||
-        px4.board_type == PX4_BOARD_PHMINI) {
+        px4.board_type == PX4_BOARD_PHMINI ||
+        px4.board_type == PX4_BOARD_PIXRACER) {
         // use in-tree drivers
         printf("Using in-tree drivers\n");
         px4_configured_board = (enum px4_board_type)px4.board_type.get();