diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/README.md b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/README.md
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+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/README.md
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+# A6SE Flight Controller
+
+The A6SE flight controller is manufactured and sold by [YJUAV](http://www.yjuav.net).
+
+## Features
+
+ - STM32H750 microcontroller
+ - Onboard Flash: 128Mbits/16Mbytes
+ - Two IMUs: ICM42688, ICM42688
+ - Internal ITS8310 I2C magnetometer
+ - Internal DPS310 SPI barometer
+ - Internal RGB LED
+ - microSD card slot port
+ - 1 analog power ports
+ - 5 UARTs and 1 USB ports
+ - 3 I2C and 2 CAN ports
+ - 11 PWM output ports
+ - Safety switch port
+ - External SPI port
+ - Buzzer port
+ - RC IN port
+
+## Pinout
+![YJUAV_A6SE Board](YJUAV_A6SE-pinout.jpg "YJUAV_A6SE")
+
+
+## Connectors
+
+**POWER ADC**
+
+| Pin  |     Signal      | Volt  |
+| :--: | :-------------: | :---: |
+|  1   |     VCC_IN      |  +5V  |
+|  2   |     VCC_IN      |  +5V  |
+|  3   | BAT_CRRENT_ADC  | +3.3V |
+|  4   | BAT_VOLTAGE_ADC | +3.3V |
+|  5   |       GND       |  GND  |
+|  6   |       GND       |  GND  |
+
+**TELEM1&TELEM2**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | UART_TX | +3.3V |
+|  3   | UART_RX | +3.3V |
+|  4   |   CTS   | +3.3V |
+|  5   |   RTS   | +3.3V |
+|  6   |   GND   |  GND  |
+
+**ADC**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | ADC_3V3 | +3.3V |
+|  3   | ADC_6V6 | +6.6V |
+|  4   |   GND   |  GND  |
+
+**SPI**
+
+| Pin  |  Signal  | Volt  |
+| :--: | :------: | :---: |
+|  1   |   VCC    |  +5V  |
+|  2   | SPI_SCK  | +3.3V |
+|  3   | SPI_MISO | +3.3V |
+|  4   | SPI_MOSI | +3.3V |
+|  5   |  SPI_CS  | +3.3V |
+|  6   |   GND    |  GND  |
+
+**I2C**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | I2C_SCL | +3.3V |
+|  3   | I2C_SDA | +3.3V |
+|  4   |   GND   |  GND  |
+
+**CAN1&CAN2**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   | CAN_P  | +3.3V |
+|  3   | CAN_N  | +3.3V |
+|  4   |  GND   |  GND  |
+
+**GPS1**
+
+| Pin  | Signal  | Volt  |
+| :--: | :-----: | :---: |
+|  1   |   VCC   |  +5V  |
+|  2   | UART_TX | +3.3V |
+|  3   | UART_RX | +3.3V |
+|  4   | I2C_SCL | +3.3V |
+|  5   | I2C_SDA | +3.3V |
+|  6   |   GND   |  GND  |
+
+**GPS2&SAFETY**
+
+| Pin  |    Signal     | Volt  |
+| :--: | :-----------: | :---: |
+|  1   |      VCC      |  +5V  |
+|  2   |    UART_TX    | +3.3V |
+|  3   |    UART_RX    | +3.3V |
+|  4   |    I2C_SCL    | +3.3V |
+|  5   |    I2C_SDA    | +3.3V |
+|  6   |   SAFETY_SW   | +3.3V |
+|  7   | SAFETY_SW_LED | +3.3V |
+|  8   |    3V3_OUT    | +3.3V |
+|  9   |    BUZZER     | +3.3V |
+|  10  |      GND      |  GND  |
+
+**DEBUG**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   |  VCC   |  +5V  |
+|  2   |   TX   | +3.3V |
+|  3   |   RX   | +3.3V |
+|  4   | SWDIO  | +3.3V |
+|  5   | SWCLK  | +3.3V |
+|  6   |  GND   |  GND  |
+
+**SAFETY**
+
+| Pin  |    Signal     | Volt  |
+| :--: | :-----------: | :---: |
+|  1   |    3V3_OUT    | +3.3V |
+|  2   |   SAFETY_SW   | +3.3V |
+|  3   | SAFETY_SW_LED | +3.3V |
+|  4   |   SBUS_OUT    | +3.3V |
+|  5   |     RSSI      | +3.3V |
+|  6   |      GND      |  GND  |
+
+**USB EX**
+
+| Pin  | Signal | Volt  |
+| :--: | :----: | :---: |
+|  1   | VCC_IN |  +5V  |
+|  2   |   DM   | +3.3V |
+|  3   |   DP   | +3.3V |
+|  4   |  GND   |  GND  |
+
+## UART Mapping
+
+ - SERIAL0 -> USB (OTG1)
+ - SERIAL1 -> USART1 (Telem1)
+ - SERIAL2 -> USART6 (Telem2)
+ - SERIAL3 -> USART3 (GPS1), NODMA
+ - SERIAL4 -> USART2 (GPS2), NODMA
+ - SERIAL5 -> UART8 (SBUS)
+ - SERIAL6 -> UART7 (Debug), NODMA
+ - SERIAL7 -> USB2 (OTG2)
+
+## RC Input
+
+The remote control signal should be connected to the “RC IN” pin, at one side of the servo channels.
+
+This signal pin supports two types of remote control signal inputs, SBUS and PPM signals.
+
+## PWM Output
+
+The A6SE supports up to 11 PWM outputs,support all PWM protocols as well as DShot. All 11 PWM outputs have GND on the bottom row, 5V on the middle row and signal on the top row.
+
+The 11 PWM outputs are in 4 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5, 6, 7 and 8 in group2
+ - PWM 9, 10, 11 in group3
+
+Channels 1-8 support bi-directional Dshot.
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
+
+## GPIOs
+
+All 11 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
+
+The pin numbers for these PWM channels in ArduPilot are shown below:
+
+| PWM Channels | Pin  | PWM Channels | Pin  |
+| ------------ | ---- | ------------ | ---- |
+| PWM1         | 50   | PWM8         | 57   |
+| PWM2         | 51   | PWM9         | 58   |
+| PWM3         | 52   | PWM10        | 59   |
+| PWM4         | 53   | PWM11        | 60   |
+| PWM5         | 54   |              |      |
+| PWM6         | 55   |              |      |
+| PWM7         | 56   |              |      |
+
+## Analog inputs
+
+The A6SE flight controller has 5 analog inputs
+
+ - ADC Pin4   -> Battery Current 
+ - ADC Pin12 -> Battery Voltage 
+ - ADC Pin8   -> ADC 3V3 Sense
+ - ADC Pin10 -> ADC 6V6 Sense
+ - ADC Pin11 -> RSSI voltage monitoring
+
+## Build the FC
+
+./waf configure --board=YJUAV_A6SE
+./waf copter
+
+The compiled firmware is located in folder **"build/YJUAV_A6SE/bin/arducopter.apj"**.
+
+
+
+## Loading Firmware
+
+The A6SE flight controller comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station.
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/YJUAV_A6SE-pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/YJUAV_A6SE-pinout.jpg
new file mode 100644
index 0000000000..095c7ed56d
Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/YJUAV_A6SE-pinout.jpg differ
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/defaults.parm
new file mode 100644
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+# setup the heater temperature to 45 degree
+BRD_HEAT_TARG 45
+
+# turn on the CAN power monitoring(default)
+CAN_P1_DRIVER 1
+BATT_MONITOR 4
+
+# setup the parameter for the ADC power module
+BATT_VOLT_PIN 12
+BATT_CURR_PIN 4
+BATT_VOLT_MULT 18.000
+BATT_AMP_PERVLT 24.000
+
+# setup the parameter for the ADC rssi 
+RSSI_ANA_PIN 11
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef-bl.dat
new file mode 100644
index 0000000000..6568d5ddc1
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef-bl.dat
@@ -0,0 +1,64 @@
+# hw definition file for processing by chibios_hwdef.py
+# for A6SE_YJUAV board
+
+# MCU class and specific type
+MCU STM32H7xx STM32H750xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1125
+
+FLASH_SIZE_KB 128
+FLASH_RESERVE_START_KB 0
+FLASH_RESERVE_END_KB 0
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# 16MB external flash
+EXT_FLASH_SIZE_MB 16
+EXT_FLASH_RESERVE_START_KB 1024
+EXT_FLASH_RESERVE_END_KB 448
+
+# QuadSPI Flash
+PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
+PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
+PE2  QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
+PD13 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
+PB6  QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
+PB2  QUADSPI_CLK     QUADSPI1 SPEED_HIGH
+
+# IFace  Device Name  Bus      QSPI Mode  Clk Freq  Size (Pow2)  NCS Delay
+QSPIDEV  w25q-dtr     QUADSPI1 MODE3      100*MHZ   24           1
+
+# order of UARTs (and USB). Allow bootloading on USB and Debug
+SERIAL_ORDER OTG1 UART7
+
+# UART7 DEBUG
+PE7  UART7_RX UART7 NODMA
+PE8  UART7_TX UART7 NODMA
+define BOOTLOADER_DEBUG SD7
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PE15 LED_RED OUTPUT OPENDRAIN HIGH # red
+PD10 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green 
+PD4 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+
+# Add CS pins to ensure they are high in bootloader
+PE4  IMU1_CS CS
+PA0  IMU2_CS CS
+PE10  FRAM_CS CS
+PE9  BAROMETER_CS CS
+PE3  COMPASS_CS CS
+PC15 RESERVE_CS CS
+
+# Extra SPI CS
+PE5 EXT_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef.dat
new file mode 100644
index 0000000000..6c812ae2d0
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/YJUAV_A6SE/hwdef.dat
@@ -0,0 +1,243 @@
+# hw definition file for processing by chibios_hwdef.py for A6SE_YJUAV
+
+# MCU class and specific type
+MCU STM32H7xx STM32H750xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1125
+
+env OPTIMIZE -O2
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# internal flash is off limits
+FLASH_SIZE_KB 128
+FLASH_RESERVE_START_KB 0
+define HAL_FLASH_PROTECTION 1
+
+EXT_FLASH_SIZE_MB 16
+EXT_FLASH_RESERVE_START_KB 1024
+EXT_FLASH_RESERVE_END_KB 448
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART6 USART3 USART1 UART8 UART7 OTG2
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART2 TELEM1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART6 TELEM2
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+PG13 USART6_CTS USART6
+PG8 USART6_RTS USART6
+
+# USART3 GPS1
+PD9 USART3_RX USART3 NODMA
+PD8 USART3_TX USART3 NODMA
+
+# USART1 GPS2
+PB7 USART1_RX USART1 NODMA
+PA9 USART1_TX USART1 NODMA
+
+# SBUS, DSM port
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# UART7 DEBUG
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 -IMU1
+PB3 SPI1_SCK SPI1
+PB4 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI6 -IMU2 -IMU3
+PA5 SPI6_SCK SPI6 
+PA6 SPI6_MISO SPI6
+PA7 SPI6_MOSI SPI6
+
+# SPI5
+PF7 SPI5_SCK SPI5 
+PF8 SPI5_MISO SPI5
+PF9 SPI5_MOSI SPI5
+
+# SPI4 -Extra SPI
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# sensors cs
+PE4  IMU1_CS CS
+PA0  IMU2_CS CS
+PE10  FRAM_CS CS
+PE9  BAROMETER1_CS CS
+PE3  BAROMETER2_CS CS
+PC15 RESERVE_CS CS
+
+# Extra SPI CS
+PE5 EXT_CS CS
+
+# I2C buses
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C1 I2C2 I2C3 I2C4
+
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+define HAL_I2C_INTERNAL_MASK 1
+
+# PWM channels
+PA15  TIM2_CH1  TIM2 PWM(1)  GPIO(50)   BIDIR
+PA1   TIM2_CH2  TIM2 PWM(2)  GPIO(51)
+PA2   TIM2_CH3  TIM2 PWM(3)  GPIO(52)   BIDIR
+PA3   TIM2_CH4  TIM2 PWM(4)  GPIO(53)
+PA8   TIM1_CH1  TIM1 PWM(5)  GPIO(54)	BIDIR
+PE11  TIM1_CH2  TIM1 PWM(6)  GPIO(55)
+PA10  TIM1_CH3  TIM1 PWM(7)  GPIO(56)	BIDIR
+PE14  TIM1_CH4  TIM1 PWM(8)  GPIO(57)
+PB5   TIM3_CH2  TIM3 PWM(9)  GPIO(58)
+PB0   TIM3_CH3  TIM3 PWM(10) GPIO(59)
+PB1   TIM3_CH4  TIM3 PWM(11) GPIO(60)
+
+# PWM output for buzzer
+PD14 TIM4_CH3 TIM4 GPIO(77) ALARM
+
+# RC input
+PB14 TIM12_CH1 TIM12 RCININT PULLUP LOW
+
+# Analog in
+PC4 BATT_CURRENT_SENS ADC1 SCALE(1)
+PC2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+
+# ADC3.3/ADC6.6
+PC5 SPARE1_ADC1 ADC1 SCALE(1)
+PC0 SPARE2_ADC1 ADC1 SCALE(2)
+
+PC1 RSSI_IN ADC1 SCALE(1)
+
+PC3 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# GPIOs
+PC13 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+
+# enable pins
+PC14 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# red LED marked as B/E
+PE15 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PD10 LED_G1 OUTPUT OPENDRAIN HIGH GPIO(1)
+PG0  LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# use pixracer style 3-LED indicators
+define HAL_HAVE_PIXRACER_LED
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+PB15 LED_SAFETY OUTPUT
+PA4 SAFETY_IN INPUT PULLDOWN
+
+# SPI devices 
+SPIDEV imu1	        SPI1 DEVID1  IMU1_CS         MODE3  2*MHZ  8*MHZ
+SPIDEV imu2	        SPI6 DEVID1  IMU2_CS         MODE3  2*MHZ  8*MHZ
+SPIDEV ramtron      SPI5 DEVID1  FRAM_CS         MODE3  8*MHZ  8*MHZ
+SPIDEV dps310       SPI5 DEVID3  BAROMETER1_CS   MODE3   5*MHZ  5*MHZ
+SPIDEV ms5611       SPI5 DEVID3  BAROMETER2_CS   MODE3   5*MHZ  5*MHZ
+
+# IMU1
+IMU Invensense SPI:imu1 ROTATION_PITCH_180_YAW_90
+IMU Invensensev3 SPI:imu1 ROTATION_PITCH_180_YAW_90
+
+# IMU2
+IMU Invensense SPI:imu2 ROTATION_PITCH_180_YAW_90
+IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_90
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 5
+
+# baro or bmp388
+BARO DPS310 SPI:dps310
+BARO MS56XX SPI:ms5611
+BARO ICP201XX I2C:0:0x64
+
+# compass
+define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
+COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_90
+
+# QuadSPI Flash
+PD11 QUADSPI_BK1_IO0 QUADSPI1 SPEED_HIGH
+PD12 QUADSPI_BK1_IO1 QUADSPI1 SPEED_HIGH
+PE2  QUADSPI_BK1_IO2 QUADSPI1 SPEED_HIGH
+PD13 QUADSPI_BK1_IO3 QUADSPI1 SPEED_HIGH
+PB6  QUADSPI_BK1_NCS QUADSPI1 SPEED_HIGH
+PB2  QUADSPI_CLK     QUADSPI1 SPEED_HIGH
+
+# microSD support
+PC8  SDMMC1_D0  SDMMC1
+PC9  SDMMC1_D1  SDMMC1
+PC10 SDMMC1_D2  SDMMC1
+PC11 SDMMC1_D3  SDMMC1
+PC12 SDMMC1_CK  SDMMC1
+PD2  SDMMC1_CMD SDMMC1
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+#define HAL_USE_EMPTY_STORAGE 1
+
+DMA_PRIORITY SPI1*  TIM*UP*
+DMA_NOSHARE  SPI1*  TIM*UP*
+
+# Enable Sagetech MXS ADSB transponder
+define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED
+