AP_HAL_ChibiOS: add SDMODELV2

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V2/README.md

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+# SDMODEL SDH7 V2 Flight Controller
+
+## Features
+
+ - STM32H743 microcontroller
+ - MPU6000 IMU
+ - BMP280 barometer
+ - IST8310 Compass
+ - microSD card slot
+ - AT7456E OSD
+ - 6 UARTs
+ - 9 PWM outputs
+
+## Pinout
+
+![SDH7V2](SDMODEL_H7V2.png)
+
+![SDH7V2](H7V1_0502.png)
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (Telem1) (MSP DisplayPort)(DMA Capable)
+ - SERIAL2 -> UART2 (Telem2) (connected to internal BT module, not useable by ArduPilot)
+ - SERIAL3 -> UART3 (GPS)(DMA Capable)
+ - SERIAL4 -> UART4 (GPS)
+ - SERIAL5 -> not available
+ - SERIAL6 -> UART6 (RX6 in RCinput, ALT config to use as UART input)
+ - SERIAL7 -> UART7 RX pin only, ESC telem)(DMA Capable)
+
+## RC Input
+
+RC input is configured on the R6 (UART6_RX) pin. It supports all single wire unidirectional RC 
+protocols. For protocols requiring half-duplex  or full duplex serial for operation
+select another UART with DMA and set its protocol to "23". To use this UART for other uses, set
+:ref:`BRD_ALT_CONFIG<BRD_ALT_CONFIG>` to "1"
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the Tx pin of any UART including SERIAL6/UART6 . You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL6). Note this assumes the RC input is using default (ALT_BRD_CONFIG =0). Obviously, if using ALT_BRD_CONFIG = 1 for full duplex RC prtocols, you must a different UART for FrSky Telemetry.
+ 
+  - SERIAL6_PROTOCOL 10
+  - SERIAL6_OPTIONS 7
+  
+## OSD Support
+
+The SDMODEL SDH7 V2 supports OSD using OSD_TYPE 1 (MAX7456 driver).The defaults are also setup to allow DJI Goggle OSD support on UART1. Both OSDs can operate simultaneously.
+
+## VTX Support
+
+The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect
+this to a peripheral requiring 5v. The 9v supply is controlled by RELAY_PIN2 set to GPIO 81 and is on by default. It can be configured to be operated by an RC switch by selecting the function RELAY2.
+
+## Camera Control
+
+The Cam pin is GPIO82 and is set to be controlled by RELAY4 by default. Relay pins can be controlled either by an RC switch or GCS command. See :ref:`common-relay` for more information.
+
+## PWM Output
+
+The SDMODEL SDH7 V2 supports up to 9 PWM or DShot outputs.  Outputs 1-4 support BDShot. The pads for motor output
+M1 to M8 on the two motor connectors, plus M9 preconfigured for LED strip or can be used as another
+PWM output.
+
+The PWM is in 5 groups:
+
+ - PWM 1, 2 in group1
+ - PWM 3, 4 in group2
+ - PWM 5, 6 in group3
+ - PWM 7, 8 in group4
+ - PWM 9 in group5
+
+Channels within the same group need to use the same output rate. If
+any channel in a group uses DShot then all channels in the group need
+to use DShot.
+
+.. note:: for users migrating from BetaflightX quads, the first four outputs M1-M4 have been configured for use with existing motor wiring using these default parameters:
+
+- :ref:`FRAME_CLASS<FRAME_CLASS>` = 1 (Quad)
+- :ref:`FRAME_TYPE<FRAME_TYPE>` = 12 (BetaFlightX) 
+
+## Battery Monitoring
+
+The board has a builting voltage and current sensor. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 11
+ - BATT_AMP_PERVLT 59.5
+
+## Compass
+
+SDMODEL SDH7 V2 has a built-in compass IST8310, but you can add an external compass 2nd using the I2C connections on the SDA and SCL pads.
+
+## Firmware
+
+Firmware for these boards can be found `here <https://firmware.ardupilot.org>`_ in  sub-folders labeled "SDMODELH7V2".
+
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.
+

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V2/defaults.parm

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+# setup for LEDs on chan9
+SERVO9_FUNCTION 120
+SERIAL7_PROTOCOL 16
+# UART1 for DisplayPort Goggles
+SERIAL1_PROTOCOL 42
+OSD_TYPE2 5

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V2/hwdef-bl.dat

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+include ../KakuteH7-bdshot/hwdef-bl.dat
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_SDMODELH7V2
+
+# VTX power switch
+PB11 VTX_PWR OUTPUT HIGH PUSHPULL GPIO(81)

libraries/AP_HAL_ChibiOS/hwdef/SDMODELH7V2/hwdef.dat

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+include ../KakuteH7-bdshot/hwdef.dat
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_SDMODELH7V2
+
+# VTX power switch
+PB11 VTX_PWR OUTPUT HIGH PUSHPULL GPIO(81)
+define RELAY2_PIN_DEFAULT 81
+
+# Camera control
+PE9 CAM_C OUTPUT LOW GPIO(84)
+define RELAY4_PIN_DEFAULT 84
+
+# BetaFlight motor order
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# builtin compass
+COMPASS IST8310 I2C:0:0x0E false ROTATION_PITCH_180