diff --git a/README.md b/README.md
index c4e2e59..cee44ff 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,10 @@
 # Nimbus FTS-CAN
 
 Forked from PX4 firmware repository on 04/25/2024
-(Latest stable release v1.14.0)
\ No newline at end of file
+(Latest stable release v1.14.0)
+
+This firmware is designed to work on the following devices:
+
+- Nimbus FTS-CAN module, based on STM32H753
+- Nimbus AUTO-FTS module, based on Holybro Pixhawk 6C mini flight control
+
diff --git a/boards/px4/fmu-v6c/nuttx-config/include/board.h b/boards/px4/fmu-v6c/nuttx-config/include/board.h
index 8042d46..e7fa4f6 100644
--- a/boards/px4/fmu-v6c/nuttx-config/include/board.h
+++ b/boards/px4/fmu-v6c/nuttx-config/include/board.h
@@ -93,9 +93,10 @@
  *   CPUCLK <= 480 MHz
  */
 
-#define STM32_BOARD_USEHSE
+#define STM32_BOARD_USEHSI 1
+#define  STM32_BOARD_HSIDIV 1
 
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSI
 
 /* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
  *
diff --git a/build.sh b/build.sh
index 88cba5a..ba4ed28 100755
--- a/build.sh
+++ b/build.sh
@@ -2,6 +2,6 @@
 
 rm -rf build/
 git submodule update --recursive
-make px4_fmu-v6x_default
-#make px4_fmu-v6c_default
+#make px4_fmu-v6x_default
+make px4_fmu-v6c_default
 #make px4_fmu-v6c_bootloader
\ No newline at end of file
diff --git a/gdb_upload.sh b/gdb_upload.sh
index 7d17690..c94fe28 100755
--- a/gdb_upload.sh
+++ b/gdb_upload.sh
@@ -1,8 +1,10 @@
 #!/bin/bash -xe
 
+#gdb-multiarch --exec build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf \
 #gdb-multiarch --exec build/px4_fmu-v6c_bootloader/px4_fmu-v6c_bootloader.elf \
 gdb-multiarch --exec build/px4_fmu-v6c_default/px4_fmu-v6c_default.elf \
--ex "set architecture armv7" -ex "target extended-remote :3333" \
+-ex "target extended-remote :3333" \
+-ex "set architecture armv7" \
 -ex "monitor reset halt" \
 -ex "set mem inaccessible-by-default off" \
 -ex "load" \