diff --git a/boards/px4/fmu-v4/uavcanv1.cmake b/boards/px4/fmu-v4/uavcanv1.cmake
new file mode 100644
index 0000000000..acb0d8bbf2
--- /dev/null
+++ b/boards/px4/fmu-v4/uavcanv1.cmake
@@ -0,0 +1,137 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v4
+	LABEL uavcanv1
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	TESTING
+	UAVCAN_INTERFACES 1
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		WIFI:/dev/ttyS0
+
+	DRIVERS
+		adc/board_adc
+		adc/ads1115
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		heater
+		#imu # all available imu drivers
+		imu/analog_devices/adis16448
+		imu/adis16477
+		imu/adis16497
+		imu/invensense/icm20602
+		imu/invensense/icm20608g
+		imu/invensense/icm40609d
+		imu/invensense/mpu6500
+		imu/invensense/mpu9250
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		magnetometer # all available magnetometer drivers
+		optical_flow # all available optical flow drivers
+		#osd
+		pca9685
+		pca9685_pwm_out
+		#protocol_splitter
+		pwm_input
+		pwm_out_sim
+		pwm_out
+		rc_input
+		roboclaw
+		safety_button
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		#uavcan
+		uavcan_v1
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		uuv_att_control
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		#dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		uorb
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fake_gyro
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		gyro_fft
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
+	)