diff --git a/src/drivers/boards/common/board_common.h b/src/drivers/boards/common/board_common.h
index d2faba5983..df8ab9f9e4 100644
--- a/src/drivers/boards/common/board_common.h
+++ b/src/drivers/boards/common/board_common.h
@@ -165,11 +165,23 @@
 #endif
 
 /* Conditional use of PX4 PIO is Used to determine if the board
- * has a PX4PIO processor.
- * We then publish the logical BOARD_USES_PX4PIO
+ * has a PX4IO processor.
+ * We then publish the logical BOARD_USES_PX4IO
  */
-#if defined(PX4IO_SERIAL_DEVICE)
-#  define BOARD_USES_PX4PIO	1
+#if defined(BOARD_USES_PX4IO_VERSION)
+#  define BOARD_USES_PX4IO	1
+/*  Allow a board_config to override the PX4IO FW search paths */
+#  if defined(BOARD_PX4IO_FW_SEARCH_PATHS)
+#    define PX4IO_FW_SEARCH_PATHS BOARD_PX4IO_FW_SEARCH_PATHS
+#  else
+/*  Use PX4IO FW search paths defaults based on version */
+#    if BOARD_USES_PX4IO_VERSION == 1
+#      define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4io-v1.bin", "/fs/microsd/px4io1.bin", "/fs/microsd/px4io.bin", nullptr }
+#    endif
+#    if BOARD_USES_PX4IO_VERSION == 2
+#      define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4io-v2.bin", "/fs/microsd/px4io2.bin", "/fs/microsd/px4io.bin", nullptr }
+#    endif
+#  endif
 #endif
 
 /************************************************************************************