diff --git a/Makefile b/Makefile
index ef773096b..3cb5c53bb 100644
--- a/Makefile
+++ b/Makefile
@@ -698,7 +698,8 @@ endif
 ##############################
 
 # Firmware files to package
-PACKAGE_FW_TARGETS  := $(filter-out fw_simposix fw_discoveryf4bare, $(FW_TARGETS))
+PACKAGE_FW_EXCLUDE  := fw_simposix $(if $(PACKAGE_FW_INCLUDE_DISCOVERYF4BARE),,fw_discoveryf4bare)
+PACKAGE_FW_TARGETS  := $(filter-out $(PACKAGE_FW_EXCLUDE), $(FW_TARGETS))
 PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
 
 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
diff --git a/flight/targets/boards/discoveryf4bare/board-info.mk b/flight/targets/boards/discoveryf4bare/board-info.mk
index 4e7f7e2ed..52921c61d 100644
--- a/flight/targets/boards/discoveryf4bare/board-info.mk
+++ b/flight/targets/boards/discoveryf4bare/board-info.mk
@@ -1,5 +1,5 @@
 BOARD_TYPE          := 0x09
-BOARD_REVISION      := 0x03
+BOARD_REVISION      := 0x04
 BOOTLOADER_VERSION  := 0x06
 HW_TYPE             := 0x00
 
diff --git a/flight/targets/boards/discoveryf4bare/firmware/Makefile b/flight/targets/boards/discoveryf4bare/firmware/Makefile
index bf7d21d28..a8445af32 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/Makefile
+++ b/flight/targets/boards/discoveryf4bare/firmware/Makefile
@@ -34,8 +34,9 @@ USE_DSP_LIB ?= NO
 #MODULES += Altitude/revolution
 #MODULES += Airspeed
 #MODULES += AltitudeHold
-#MODULES += Stabilization
+MODULES += Stabilization
 MODULES += ManualControl
+MODULES += Receiver
 MODULES += Actuator
 MODULES += GPS
 MODULES += TxPID
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
index 5c67612dc..1aaca405d 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp
@@ -107,6 +107,9 @@ SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
     case 0x0903:
         return SetupWizard::CONTROLLER_REVO;
 
+    case 0x0904:
+        return SetupWizard::CONTROLLER_DISCOVERYF4;
+
     default:
         return SetupWizard::CONTROLLER_UNKNOWN;
     }
@@ -127,6 +130,7 @@ void ControllerPage::setupBoardTypes()
     ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl 3D"), SetupWizard::CONTROLLER_CC3D);
     ui->boardTypeCombo->addItem(tr("OpenPilot Revolution"), SetupWizard::CONTROLLER_REVO);
     ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_OPLINK);
+    ui->boardTypeCombo->addItem(tr("OpenPilot DiscoveryF4"), SetupWizard::CONTROLLER_DISCOVERYF4);
 }
 
 void ControllerPage::setControllerType(SetupWizard::CONTROLLER_TYPE type)
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp b/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
index 5515a31dd..4789f740f 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
@@ -94,6 +94,7 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
         break;
     }
     case SetupWizard::CONTROLLER_REVO:
+    case SetupWizard::CONTROLLER_DISCOVERYF4:
     {
         switch (selectedType) {
         case VehicleConfigurationSource::INPUT_PWM:
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
index 1657ca526..fbbe9cd26 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
@@ -83,6 +83,7 @@ int SetupWizard::nextId() const
         case CONTROLLER_CC:
         case CONTROLLER_CC3D:
         case CONTROLLER_REVO:
+        case CONTROLLER_DISCOVERYF4:
             return PAGE_INPUT;
 
         case CONTROLLER_OPLINK:
@@ -141,6 +142,10 @@ int SetupWizard::nextId() const
         case CONTROLLER_REVO:
             return PAGE_BIAS_CALIBRATION;
 
+        case CONTROLLER_DISCOVERYF4:
+            // Skip calibration.
+            return PAGE_OUTPUT_CALIBRATION;
+
         default:
             return PAGE_NOTYETIMPLEMENTED;
         }
@@ -174,6 +179,9 @@ QString SetupWizard::getSummaryText()
     case CONTROLLER_OPLINK:
         summary.append(tr("OpenPilot OPLink Radio Modem"));
         break;
+    case CONTROLLER_DISCOVERYF4:
+        summary.append(tr("OpenPilot DiscoveryF4 Development Board"));
+        break;
     default:
         summary.append(tr("Unknown"));
         break;
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
index 4fd26406e..1dc7544e9 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
@@ -148,6 +148,7 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
         }
         break;
     case VehicleConfigurationSource::CONTROLLER_REVO:
+    case VehicleConfigurationSource::CONTROLLER_DISCOVERYF4:
         // Reset all ports
         data.RM_RcvrPort  = HwSettings::RM_RCVRPORT_DISABLED;
 
diff --git a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
index 797283656..b20fe63e5 100644
--- a/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
+++ b/ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
@@ -55,7 +55,7 @@ class VehicleConfigurationSource {
 public:
     VehicleConfigurationSource();
 
-    enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_OPLINK };
+    enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_OPLINK, CONTROLLER_DISCOVERYF4 };
     enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE };
     enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
                             MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
diff --git a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
index aedba4c33..fc3e0c3cd 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
@@ -50,6 +50,10 @@ public:
             // Revo Mini
             return QString("Revolution");
 
+            break;
+        case 0x0904:
+            return QString("DiscoveryF4");
+
             break;
         default:
             return QString("");
diff --git a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
index 4c5d09842..451f63a12 100644
--- a/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
@@ -102,6 +102,9 @@ void DeviceWidget::populate()
     case 0x0903:
         devicePic.load(":/uploader/images/gcs-board-revo.png");
         break;
+    case 0x0904:
+        devicePic.load(":/uploader/images/gcs-board-revo.png");
+        break;
     default:
         // Clear
         devicePic.load("");
diff --git a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
index 64bf57be8..d090fc0ed 100644
--- a/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
@@ -1003,7 +1003,7 @@ quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size)
     quint32 pad = Size - array.length();
 
     array.append(QByteArray(pad, 255));
-    quint32 t[Size / 4];
+    quint32 *t  = new quint32[Size / 4];
     for (int x = 0; x < array.length() / 4; x++) {
         quint32 aux = 0;
         aux  = (char)array[x * 4 + 3] & 0xFF;
@@ -1015,7 +1015,11 @@ quint32 DFUObject::CRCFromQBArray(QByteArray array, quint32 Size)
         aux += (char)array[x * 4 + 0] & 0xFF;
         t[x] = aux;
     }
-    return DFUObject::CRC32WideFast(0xFFFFFFFF, Size / 4, (quint32 *)t);
+    quint32 ret = DFUObject::CRC32WideFast(0xFFFFFFFF, Size / 4, t);
+
+    delete[] t;
+
+    return ret;
 }
 
 
diff --git a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
index 0d9c112a8..2fa0a4ddd 100644
--- a/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
@@ -667,6 +667,9 @@ bool UploaderGadgetWidget::autoUpdate()
     case 0x903:
         filename = "fw_revolution";
         break;
+    case 0x904:
+        filename = "fw_discoveryf4bare";
+        break;
     default:
         emit autoUpdateSignal(FAILURE, QVariant());
         return false;