diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index a9a9267481..96a2fa59ee 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -49,8 +49,10 @@
 
 /* Run time Hardware detection */
 #define BOARD_HAS_SIMPLE_HW_VERSIONING 1
+#define HW_VER_PA8             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN8)
 #define HW_VER_PB4             (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4)
 #define HW_VER_PB12            (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN12)
+#define HW_VER_PA8_INIT        (GPIO_VDD_5V_PERIPH_EN)
 #define HW_VER_PB4_INIT        (GPIO_SPI1_EXTI_DRDY_PB4)
 #define HW_VER_PB12_INIT       (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTB|GPIO_PIN12)
 #define HW_VER_FMUV2_STATE     0x8 /* PB12:PU:1 PB12:PD:0 PB4:PU:0 PB4PD:0 */
diff --git a/src/drivers/boards/px4fmu-v2/init.c b/src/drivers/boards/px4fmu-v2/init.c
index f02e7478e9..02da879e38 100644
--- a/src/drivers/boards/px4fmu-v2/init.c
+++ b/src/drivers/boards/px4fmu-v2/init.c
@@ -407,18 +407,45 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 			hw_type[2] = '0';
 
 			/* Has CAN2 transceiver Remove pull up */
+
 			stm32_configgpio(GPIO_CAN2_RX);
 
 			break;
 
 		case HW_VER_FMUV2MINI_STATE:
-			hw_type[2] = 'M';
+
+			/* Detection for a Pixhack3 */
+
+			stm32_configgpio(HW_VER_PA8);
+			up_udelay(10);
+			bool isph3 = stm32_gpioread(HW_VER_PA8);
+			stm32_configgpio(HW_VER_PA8_INIT);
+
+
+			if (isph3) {
+
+				/* Pixhack3 looks like a FMuV3 Cube */
+
+				hw_version = HW_VER_FMUV3_STATE;
+				hw_type[1]++;
+				hw_type[2] = '0';
+				message("\nPixhack V3 detected, forcing to fmu-v3");
+
+			} else {
+
+				/* It is a mini */
+
+				hw_type[2] = 'M';
+			}
+
 			break;
 
 		default:
-			// questionable px4fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do)
-			message("bad version detected, forcing to fmu-v2\n");
-			hw_version = 0x8;
+
+			/* questionable px4fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
+
+			message("\nbad version detected, forcing to fmu-v2");
+			hw_version = HW_VER_FMUV2_STATE;
 			break;
 		}