diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index b25591523afaf..3997c3d7970c8 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -38,7 +38,10 @@ def __init__(self):
     def configure(self, cfg):
         cfg.env.TOOLCHAIN = cfg.options.toolchain or self.toolchain
         cfg.env.ROMFS_FILES = []
-        cfg.load('toolchain')
+        if hasattr(self,'configure_toolchain'):
+            self.configure_toolchain(cfg)
+        else:
+            cfg.load('toolchain')
         cfg.load('cxx_checks')
 
         env = waflib.ConfigSet.ConfigSet()
@@ -190,6 +193,8 @@ def srcpath(path):
             cfg.msg("Configured VSCode Intellisense:", 'no', color='YELLOW')
 
     def cc_version_gte(self, cfg, want_major, want_minor):
+        if cfg.env.TOOLCHAIN == "custom":
+            return True
         (major, minor, patchlevel) = cfg.env.CC_VERSION
         return (int(major) > want_major or
                 (int(major) == want_major and int(minor) >= want_minor))
@@ -1618,3 +1623,56 @@ class SITL_x86_64_linux_gnu(SITL_static):
 
 class SITL_arm_linux_gnueabihf(SITL_static):
     toolchain = 'arm-linux-gnueabihf'
+
+class QURT(Board):
+    '''support for QURT based boards'''
+    toolchain = 'custom'
+
+    def __init__(self):
+        self.with_can = False
+
+    def configure_toolchain(self, cfg):
+        cfg.env.CXX_NAME = 'gcc'
+        cfg.env.HEXAGON_SDK_DIR = "/opt/hexagon-sdk/4.1.0.4-lite"
+        cfg.env.CC_VERSION = ('4','1','0')
+        cfg.env.TOOLCHAIN_DIR = cfg.env.HEXAGON_SDK_DIR + "/tools/HEXAGON_Tools/8.4.05/Tools"
+        cfg.env.COMPILER_CC = cfg.env.TOOLCHAIN_DIR + "/bin/hexagon-clang"
+        cfg.env.COMPILER_CXX = cfg.env.TOOLCHAIN_DIR + "/bin/hexagon-clang++"
+        cfg.env.CXX = ["ccache", cfg.env.COMPILER_CXX]
+        cfg.env.CXX_TGT_F = ['-c', '-o']
+        cfg.env.CPPPATH_ST = '-I%s'
+        cfg.env.DEFINES_ST = '-D%s'
+
+
+    def configure_env(self, cfg, env):
+        super(QURT, self).configure_env(cfg, env)
+
+        env.BOARD_CLASS = "QURT"
+        env.HEXAGON_LINK = cfg.env.HEXAGON_SDK_DIR + "/tools/HEXAGON_Tools/8.4.05/Tools/bin/hexagon-link"
+        env.HEAXGON_APP = "libardupilot.so"
+        env.HEXAGON_LINKFLAGS = f"-march=hexagon -mcpu=hexagonv66 -shared -call_shared -G0 {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/initS.o -L{cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic -Bsymbolic {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/libgcc.a --wrap=malloc --wrap=calloc --wrap=free --wrap=realloc --wrap=memalign --wrap=__stack_chk_fail -lc -soname={env.HEXAGON_APP} --start-group --whole-archive OBJECT_LIST --end-group  --start-group -lgcc --end-group {cfg.env.TOOLCHAIN_DIR}/target/hexagon/lib/v66/G0/pic/finiS.o"
+        env.INCLUDES += [cfg.env.HEXAGON_SDK_DIR + "/rtos/qurt/computev66/include/qurt"]
+        env.CXXFLAGS += ["-fPIC", "-MD"]
+
+        env.DEFINES.update(
+            CONFIG_HAL_BOARD = 'HAL_BOARD_QURT',
+            CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_NONE',
+            AP_SIM_ENABLED = 0,
+        )
+
+        if not cfg.env.DEBUG:
+            env.CXXFLAGS += [
+                '-O2',
+            ]
+
+        env.AP_LIBRARIES += [
+            'AP_HAL_QURT',
+        ]
+
+    def build(self, bld):
+        super(QURT, self).build(bld)
+
+    def get_name(self):
+        # get name of class
+        return self.__class__.__name__
+    
diff --git a/Tools/ardupilotwaf/toolchain.py b/Tools/ardupilotwaf/toolchain.py
index eb86084307cb2..5fec76f829552 100644
--- a/Tools/ardupilotwaf/toolchain.py
+++ b/Tools/ardupilotwaf/toolchain.py
@@ -133,6 +133,8 @@ def configure(cfg):
     _filter_supported_cxx_compilers('g++', 'clang++')
 
     cfg.msg('Using toolchain', cfg.env.TOOLCHAIN)
+    if cfg.env.TOOLCHAIN == "custom":
+        return
 
     if cfg.env.TOOLCHAIN == 'native':
         cfg.load('compiler_cxx compiler_c')