diff --git a/Makefile b/Makefile
index 8477761c7..80ff2822e 100644
--- a/Makefile
+++ b/Makefile
@@ -14,7 +14,7 @@
 # Things that the user might override on the commandline
 #
 
-# The target to build, must be one of NAZE or FY90Q
+# The target to build, must be one of NAZE, FY90Q OR OLIMEXINO
 TARGET		?= NAZE
 
 # Compile-time options
@@ -24,7 +24,7 @@ OPTIONS		?=
 # Things that need to be maintained as the source changes
 #
 
-VALID_TARGETS	 = NAZE FY90Q
+VALID_TARGETS	 = NAZE FY90Q OLIMEXINO
 
 # Working directories
 ROOT		 = $(dir $(lastword $(MAKEFILE_LIST)))
@@ -76,6 +76,15 @@ FY90Q_SRC	 = drv_adc_fy90q.c \
 		   drv_pwm_fy90q.c \
 		   $(COMMON_SRC)
 
+# Source files for the OLIMEXINO target
+OLIMEXINO_SRC	 = drv_adc.c \
+		   drv_adxl345.c \
+		   drv_mpu3050.c \
+		   drv_mpu6050.c \
+		   drv_l3g4200d.c \
+		   drv_pwm.c \
+		   $(COMMON_SRC)
+
 # Search path for baseflight sources
 VPATH		:= $(SRC_DIR):$(SRC_DIR)/baseflight_startups
 
diff --git a/src/board.h b/src/board.h
index 798cea628..4bc386af4 100755
--- a/src/board.h
+++ b/src/board.h
@@ -112,14 +112,32 @@ typedef struct baro_t
 #define GYRO
 #define ACC
 
+#define SENSORS_SET (SENSOR_ACC)
+
+#endif
+
+#ifdef OLIMEXINO
+// OLIMEXINO
+
+// LED2 is using one of the pwm pins (PWM2), so we must not use PWM2.  @See pwmInit()
+#define LED0_GPIO   GPIOA
+#define LED0_PIN    GPIO_Pin_1 // D3, PA1/USART2_RTS/ADC1/TIM2_CH3 - "LED2" on silkscreen, Yellow
+#define LED1_GPIO   GPIOA
+#define LED1_PIN    GPIO_Pin_5 // D13, PA5/SPI1_SCK/ADC5 - "LED1" on silkscreen, Green
+
+#define GYRO
+#define ACC
+
+#define SENSORS_SET (SENSOR_ACC)
+
 #else
- // Afroflight32
+// Afroflight32
 #define LED0_GPIO   GPIOB
-#define LED0_PIN    GPIO_Pin_3
+#define LED0_PIN    GPIO_Pin_3 // PB3 (LED)
 #define LED1_GPIO   GPIOB
-#define LED1_PIN    GPIO_Pin_4
+#define LED1_PIN    GPIO_Pin_4 // PB4 (LED)
 #define BEEP_GPIO   GPIOA
-#define BEEP_PIN    GPIO_Pin_12
+#define BEEP_PIN    GPIO_Pin_12 // PA12 (Buzzer)
 #define BARO_GPIO   GPIOC
 #define BARO_PIN    GPIO_Pin_13
 
@@ -129,6 +147,9 @@ typedef struct baro_t
 #define BARO
 #define LEDRING
 #define SONAR
+#define BUZZER
+
+#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
 #endif
 
@@ -160,8 +181,21 @@ typedef struct baro_t
 #include "drv_i2c.h"
 #include "drv_pwm.h"
 #include "drv_uart.h"
+#endif
 
+#ifdef OLIMEXINO
+// OLIMEXINO
+#include "drv_system.h"         // timers, delays, etc
+#include "drv_adc.h"
+#include "drv_i2c.h"
+#include "drv_adxl345.h"
+#include "drv_mpu3050.h"
+#include "drv_mpu6050.h"
+#include "drv_l3g4200d.h"
+#include "drv_pwm.h"
+#include "drv_uart.h"
 #else
+
  // AfroFlight32
 #include "drv_system.h"         // timers, delays, etc
 #include "drv_adc.h"
diff --git a/src/drv_mma845x.c b/src/drv_mma845x.c
index 6affd61d2..256acf63c 100644
--- a/src/drv_mma845x.c
+++ b/src/drv_mma845x.c
@@ -75,6 +75,7 @@ static void mma8452Init(void)
     GPIO_InitTypeDef GPIO_InitStructure;
 
     // PA5 - ACC_INT2 output on rev3/4 hardware
+    // OLIMEXINO - The PA5 pin is wired up to LED1, if you need to use an mma8452 on an Olimexino use a different pin and provide support in code.
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
@@ -88,7 +89,7 @@ static void mma8452Init(void)
     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG4, MMA8452_CTRL_REG4_INT_EN_DRDY); // Enable DRDY interrupt (unused by this driver)
     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG5, 0); // DRDY routed to INT2
     i2cWrite(MMA8452_ADDRESS, MMA8452_CTRL_REG1, MMA8452_CTRL_REG1_LNOISE | MMA8452_CTRL_REG1_ACTIVE); // Turn on measurements, low noise at max scale mode, Data Rate 800Hz. LNoise mode makes range +-4G.
-    
+
     acc_1G = 256;
 }
 
diff --git a/src/drv_pwm.c b/src/drv_pwm.c
index 90c385c94..df019fc05 100755
--- a/src/drv_pwm.c
+++ b/src/drv_pwm.c
@@ -48,7 +48,7 @@
     PWM5..8 used for motors
     PWM9..10 used for servo or else motors
     PWM11..14 used for motors
-    
+
     2) multirotor PPM input with more servos
     PWM1 used for PPM
     PWM5..8 used for motors
@@ -352,7 +352,7 @@ void TIM1_CC_IRQHandler(void)
 static void pwmTIMxHandler(TIM_TypeDef *tim, uint8_t portBase)
 {
     int8_t port;
-    
+
     // Generic CC handler for TIM2,3,4
     if (TIM_GetITStatus(tim, TIM_IT_CC1) == SET) {
         port = portBase + 0;
@@ -449,6 +449,12 @@ bool pwmInit(drv_pwm_config_t *init)
         if (setup[i] == 0xFF) // terminator
             break;
 
+#ifdef OLIMEXINO
+        // PWM2 is connected to LED2 on the board and cannot be connected.
+        if (port == PWM2)
+            continue;
+#endif
+
         // skip UART ports for GPS
         if (init->useUART && (port == PWM3 || port == PWM4))
             continue;
diff --git a/src/drv_system.c b/src/drv_system.c
index 4a6b2000f..d19b0ada6 100755
--- a/src/drv_system.c
+++ b/src/drv_system.c
@@ -48,10 +48,10 @@ void systemInit(void)
     uint32_t i;
 
     gpio_config_t gpio_cfg[] = {
-        { LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED)
-        { LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP }, // PB4 (LED)
-#ifndef FY90Q
-        { BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD }, // PA12 (Buzzer)
+        { LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP },
+        { LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP },
+#ifdef BUZZER
+        { BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD },
 #endif
     };
     uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);
@@ -164,7 +164,7 @@ void systemReset(bool toBootloader)
         // 1FFFF000 -> 20000200 -> SP
         // 1FFFF004 -> 1FFFF021 -> PC
         *((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
-    }        
+    }
 
     // Generate system reset
     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
diff --git a/src/main.c b/src/main.c
index cb07356db..2d832eb30 100755
--- a/src/main.c
+++ b/src/main.c
@@ -56,15 +56,9 @@ int main(void)
     }
 
     adcInit(&adc_params);
-
-    // We have these sensors
-#ifndef FY90Q
-    // AfroFlight32
-    sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
-#else
-    // FY90Q
-    sensorsSet(SENSOR_ACC);
-#endif
+
+    // We have these sensors; SENSORS_SET defined in board.h depending on hardware platform
+    sensorsSet(SENSORS_SET);
 
     mixerInit(); // this will set useServo var depending on mixer type
     // when using airplane/wing mixer, servo/motor outputs are remapped
diff --git a/src/sensors.c b/src/sensors.c
index 95fd779ec..57e9f8362 100755
--- a/src/sensors.c
+++ b/src/sensors.c
@@ -59,7 +59,7 @@ retry:
             if (mcfg.acc_hardware == ACC_ADXL345)
                 break;
             ; // fallthrough
-       case 2: // MPU6050
+        case 2: // MPU6050
             if (haveMpu6k) {
                 mpu6050Detect(&acc, &gyro, mcfg.gyro_lpf, &mcfg.mpu6050_scale); // yes, i'm rerunning it again.  re-fill acc struct
                 accHardware = ACC_MPU6050;
@@ -68,11 +68,13 @@ retry:
             }
             ; // fallthrough
         case 3: // MMA8452
+#ifndef OLIMEXINO
             if (mma8452Detect(&acc)) {
                 accHardware = ACC_MMA8452;
                 if (mcfg.acc_hardware == ACC_MMA8452)
                     break;
             }
+#endif
     }
 
     // Found anything? Check if user fucked up or ACC is really missing.