diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 93482eed9b..9510c6161f 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -38,6 +38,7 @@
  * Code by Siddharth Bharat Purohit
  */
 
+#include <hal.h>
 #include "AP_HAL_ChibiOS.h"
 
 #if HAL_NUM_CAN_IFACES
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index dfbb0ae646..f14b97a390 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -38,6 +38,7 @@
  * Code by Siddharth Bharat Purohit
  */
 
+#include <hal.h>
 #include "AP_HAL_ChibiOS.h"
 
 #if HAL_NUM_CAN_IFACES
diff --git a/libraries/AP_HAL_ChibiOS/DSP.cpp b/libraries/AP_HAL_ChibiOS/DSP.cpp
index f8281862d8..44c73a0905 100644
--- a/libraries/AP_HAL_ChibiOS/DSP.cpp
+++ b/libraries/AP_HAL_ChibiOS/DSP.cpp
@@ -15,6 +15,7 @@
  * Code by Andy Piper and the betaflight team
  */
 
+#include <hal.h>
 #include "AP_HAL_ChibiOS.h"
 
 #if HAL_WITH_DSP
diff --git a/libraries/AP_HAL_ChibiOS/Device.cpp b/libraries/AP_HAL_ChibiOS/Device.cpp
index f5ad017de9..619804a4b9 100644
--- a/libraries/AP_HAL_ChibiOS/Device.cpp
+++ b/libraries/AP_HAL_ChibiOS/Device.cpp
@@ -12,6 +12,8 @@
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include <hal.h>
 #include "Device.h"
 
 #include <AP_HAL/AP_HAL.h>
diff --git a/libraries/AP_HAL_ChibiOS/GPIO.cpp b/libraries/AP_HAL_ChibiOS/GPIO.cpp
index b2caf2fc71..1bb06ab9a0 100644
--- a/libraries/AP_HAL_ChibiOS/GPIO.cpp
+++ b/libraries/AP_HAL_ChibiOS/GPIO.cpp
@@ -14,6 +14,8 @@
  *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
+
+#include <hal.h>
 #include "GPIO.h"
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 072285d060..b746ddcdf0 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -19,6 +19,7 @@
 
 #include <assert.h>
 
+#include <hal.h>
 #include "HAL_ChibiOS_Class.h"
 #include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
 #include <AP_HAL_ChibiOS/AP_HAL_ChibiOS_Private.h>
diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
index de0ada91ff..4ed88397bf 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.h
@@ -26,7 +26,6 @@
 #endif
 #include <stdio.h>
 #include "ch.h"
-#include "hal.h"
 
 class HAL_ChibiOS : public AP_HAL::HAL {
 public:
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
index 18149b8fc1..36e3ea9952 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
@@ -12,6 +12,8 @@
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include <hal.h>
 #include "I2CDevice.h"
 
 #include <AP_HAL/AP_HAL.h>
diff --git a/libraries/AP_HAL_ChibiOS/QSPIDevice.cpp b/libraries/AP_HAL_ChibiOS/QSPIDevice.cpp
index 3af703d06e..acfa563ebf 100644
--- a/libraries/AP_HAL_ChibiOS/QSPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/QSPIDevice.cpp
@@ -17,6 +17,7 @@
  *         Siddharth Bharat Purohit, Cubepilot Pty. Ltd.
  */
 
+#include <hal.h>
 #include "QSPIDevice.h"
 
 #include <AP_HAL/AP_HAL.h>
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index dcaa8e674c..cbaaf03c7b 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -14,6 +14,8 @@
  *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
+
+#include <hal.h>
 #include "RCInput.h"
 #include "hal.h"
 #include "hwdef/common/ppm.h"
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 8a593ecb54..1f72eebe80 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -15,6 +15,8 @@
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  * Bi-directional dshot based on Betaflight, code by Andy Piper and Siddharth Bharat Purohit
  */
+
+#include <hal.h>
 #include "RCOutput.h"
 #include <AP_Math/AP_Math.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 4d072c2047..6b970a1335 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -14,6 +14,8 @@
  *
  * Bi-directional dshot based on Betaflight, code by Andy Piper and Siddharth Bharat Purohit
  */
+
+#include <hal.h>
 #include "RCOutput.h"
 #include <AP_Math/AP_Math.h>
 #include "hwdef/common/stm32_util.h"
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
index 2c405da11f..13a5578c02 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
@@ -12,6 +12,8 @@
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include <hal.h>
 #include "RCOutput.h"
 #include <AP_Math/AP_Math.h>
 #include "hwdef/common/stm32_util.h"
diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 932e7eecfe..a6bf9e972f 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -12,6 +12,8 @@
  * You should have received a copy of the GNU General Public License along
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include <hal.h>
 #include "SPIDevice.h"
 
 #include <AP_HAL/AP_HAL.h>
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 3224a191a6..c8a566c609 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -16,6 +16,7 @@
  */
 #include <AP_HAL/AP_HAL.h>
 
+#include <hal.h>
 #include "AP_HAL_ChibiOS.h"
 #include "Scheduler.h"
 #include "Util.h"
diff --git a/libraries/AP_HAL_ChibiOS/Semaphores.cpp b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
index e09e641239..4949339977 100644
--- a/libraries/AP_HAL_ChibiOS/Semaphores.cpp
+++ b/libraries/AP_HAL_ChibiOS/Semaphores.cpp
@@ -14,8 +14,10 @@
  *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
+
 #include <AP_HAL/AP_HAL.h>
 #include "Semaphores.h"
+#include <hal.h>
 #include "AP_HAL_ChibiOS.h"
 
 #if CH_CFG_USE_MUTEXES == TRUE
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
index 02550ed427..a33c271328 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
@@ -15,6 +15,7 @@
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
 
+#include <hal.h>
 #include "SoftSigReader.h"
 #include "hwdef/common/stm32_util.h"
 
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
index d757fee904..a13150aef5 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
@@ -14,6 +14,7 @@
  *
  */
 
+#include <hal.h>
 #include "SoftSigReaderInt.h"
 #include "hwdef/common/stm32_util.h"
 
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
index 33850d1f1c..edbea11471 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -17,6 +17,8 @@
 #include <AP_HAL/AP_HAL.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && !defined(HAL_NO_UARTDRIVER)
+
+#include <hal.h>
 #include "UARTDriver.h"
 #include "GPIO.h"
 #include <usbcfg.h>
diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index 7a9374a53c..a26679cb9e 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -17,6 +17,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 
+#include <hal.h>
 #include "Util.h"
 #include <ch.h>
 #include "RCOutput.h"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
index 7a252dc605..a5fee9e302 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
@@ -53,7 +53,8 @@ mcu = {
     'CPU_FLAGS' : '-mcpu=cortex-m7 -mfpu=fpv5-d16 -mfloat-abi=hard',
 
     'DEFINES' : {
-        'HAL_HAVE_HARDWARE_DOUBLE' : '1'
+        'HAL_HAVE_HARDWARE_DOUBLE' : '1',
+        'HAL_WITH_MCU_MONITORING' : '1'
     }
 }
 
diff --git a/libraries/AP_HAL_ChibiOS/sdcard.cpp b/libraries/AP_HAL_ChibiOS/sdcard.cpp
index 6caafa4cf9..bdef16b0d3 100644
--- a/libraries/AP_HAL_ChibiOS/sdcard.cpp
+++ b/libraries/AP_HAL_ChibiOS/sdcard.cpp
@@ -14,6 +14,7 @@
  *
  */
 
+#include <hal.h>
 #include "SPIDevice.h"
 #include "sdcard.h"
 #include "hwdef/common/spi_hook.h"
diff --git a/libraries/AP_HAL_ChibiOS/shared_dma.cpp b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
index 23dc620790..c9f4c98e92 100644
--- a/libraries/AP_HAL_ChibiOS/shared_dma.cpp
+++ b/libraries/AP_HAL_ChibiOS/shared_dma.cpp
@@ -14,6 +14,8 @@
  *
  * Code by Andrew Tridgell and Siddharth Bharat Purohit
  */
+
+#include <hal.h>
 #include "shared_dma.h"
 
 /*