diff --git a/platforms/nuttx/nuttx-configs/av-x-v1/include/board.h b/platforms/nuttx/nuttx-configs/av-x-v1/include/board.h
index d28473bf9c..bc005e88bd 100755
--- a/platforms/nuttx/nuttx-configs/av-x-v1/include/board.h
+++ b/platforms/nuttx/nuttx-configs/av-x-v1/include/board.h
@@ -283,6 +283,7 @@
 
 #define GPIO_UART4_RX    GPIO_UART4_RX_4    /* PD0 */
 #define GPIO_UART4_TX    GPIO_UART4_TX_3    /* PA12 */
+#define GPIO_UART4_RS485_DIR GPIO_UART4_RTS_2	/* PB14 */
 
 #define GPIO_UART5_RX    GPIO_UART5_RX_4    /* PB8 */
 #define GPIO_UART5_TX    GPIO_UART5_TX_4    /* PB9 */
@@ -290,9 +291,8 @@
 #define GPIO_USART6_RX   GPIO_USART6_RX_2   /* PG9 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_2   /* PG14 */
 
-// SWAPPED in REV C
-#define GPIO_UART7_RX    GPIO_UART7_TX_1    /* PE8 */
-#define GPIO_UART7_TX    GPIO_UART7_RX_1    /* PE7 */
+#define GPIO_UART7_RX    GPIO_UART7_RX_1    /* PE8 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE7 */
 
 /* USART8: has no remap
  *
diff --git a/platforms/nuttx/nuttx-configs/av-x-v1/nsh/defconfig b/platforms/nuttx/nuttx-configs/av-x-v1/nsh/defconfig
index f416f9fb63..0a4a66568c 100644
--- a/platforms/nuttx/nuttx-configs/av-x-v1/nsh/defconfig
+++ b/platforms/nuttx/nuttx-configs/av-x-v1/nsh/defconfig
@@ -169,14 +169,17 @@ CONFIG_USART1_RXDMA=y
 CONFIG_USART2_RXDMA=y
 # CONFIG_USART3_RS485 is not set
 CONFIG_USART3_RXDMA=y
-# CONFIG_UART4_RS485 is not set
+CONFIG_UART4_RS485=y
+CONFIG_UART4_RS485_DIR_POLARITY=1
 # CONFIG_UART4_RXDMA is not set
 # CONFIG_UART5_RS485 is not set
-# CONFIG_UART5_RXDMA is not set
+CONFIG_UART5_RXDMA=y
+# CONFIG_USART6_RS485 is not set
+CONFIG_USART6_RXDMA=y
 # CONFIG_UART7_RS485 is not set
-# CONFIG_UART7_RXDMA is not set
+CONFIG_UART7_RXDMA=y
 # CONFIG_UART8_RS485 is not set
-# CONFIG_UART8_RXDMA is not set
+CONFIG_UART8_RXDMA=y
 CONFIG_SERIAL_DISABLE_REORDERING=y
 CONFIG_RTC_MAGIC_REG=1
 CONFIG_RTC_MAGIC=0xfacefeee
@@ -369,7 +372,7 @@ CONFIG_STM32F7_USART2=y
 CONFIG_STM32F7_USART3=y
 CONFIG_STM32F7_UART4=y
 CONFIG_STM32F7_UART5=y
-# CONFIG_STM32F7_USART6 is not set
+CONFIG_STM32F7_USART6=y
 CONFIG_STM32F7_UART7=y
 CONFIG_STM32F7_UART8=y
 # CONFIG_STM32F7_IWDG is not set
@@ -381,6 +384,7 @@ CONFIG_STM32F7_WWDG=y
 CONFIG_STM32F7_SERIAL_RXDMA_BUFFER_SIZE=32
 CONFIG_STM32F7_USART_BREAKS=y
 CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
 
 #
 # SPI Configuration
@@ -880,7 +884,7 @@ CONFIG_USART2_SERIALDRIVER=y
 CONFIG_USART3_SERIALDRIVER=y
 # CONFIG_USART4_SERIALDRIVER is not set
 # CONFIG_USART5_SERIALDRIVER is not set
-# CONFIG_USART6_SERIALDRIVER is not set
+CONFIG_USART6_SERIALDRIVER=y
 # CONFIG_USART7_SERIALDRIVER is not set
 # CONFIG_USART8_SERIALDRIVER is not set
 # CONFIG_OTHER_UART_SERIALDRIVER is not set
@@ -896,6 +900,7 @@ CONFIG_ARCH_HAVE_SERIAL_TERMIOS=y
 # CONFIG_USART3_SERIAL_CONSOLE is not set
 # CONFIG_UART4_SERIAL_CONSOLE is not set
 # CONFIG_UART5_SERIAL_CONSOLE is not set
+# CONFIG_USART6_SERIAL_CONSOLE is not set
 # CONFIG_UART7_SERIAL_CONSOLE is not set
 CONFIG_UART8_SERIAL_CONSOLE=y
 # CONFIG_OTHER_SERIAL_CONSOLE is not set
@@ -966,6 +971,19 @@ CONFIG_UART5_2STOP=0
 # CONFIG_UART5_OFLOWCONTROL is not set
 # CONFIG_UART5_DMA is not set
 
+#
+# USART6 Configuration
+#
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_BITS=8
+CONFIG_USART6_PARITY=0
+CONFIG_USART6_2STOP=0
+# CONFIG_USART6_IFLOWCONTROL is not set
+# CONFIG_USART6_OFLOWCONTROL is not set
+# CONFIG_USART6_DMA is not set
+
 #
 # UART7 Configuration
 #
diff --git a/src/drivers/boards/av-x-v1/board_config.h b/src/drivers/boards/av-x-v1/board_config.h
index b5f1fe80f9..93b81a622e 100644
--- a/src/drivers/boards/av-x-v1/board_config.h
+++ b/src/drivers/boards/av-x-v1/board_config.h
@@ -321,7 +321,7 @@
 #define BOARD_HAS_RX_TX_SWAP               1 /* HW Can swap TX and RX */
 #define RC_SERIAL_PORT_IS_SWAPED           0 /* Board wired with RC's TX is on cpu RX */
 
-#define GPS_DEFAULT_UART_PORT "/dev/ttyS5" /* UART7 */
+#define GPS_DEFAULT_UART_PORT "/dev/ttyS6" /* UART7 */
 
 /* Power switch controls ******************************************************/