diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat
index bfc0918b83..5b74c56d09 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee4/hwdef.dat
@@ -1,194 +1,194 @@
-# hwdef for Luminousbees flight board
-
-# MCU class and specific type
-MCU STM32F4xx STM32F427xx
-
-# board ID for firmware load
-APJ_BOARD_ID 11
-
-# crystal frequency
-OSCILLATOR_HZ 24000000
-
-# ChibiOS system timer
-STM32_ST_USE_TIMER 5
-
-# flash size
-FLASH_SIZE_KB 2048
-
-env OPTIMIZE -O3
-
-# serial port for stdout disabled, use USB console
-# STDOUT_SERIAL SD7
-# STDOUT_BAUDRATE 57600
-
-# only one I2C bus
-I2C_ORDER I2C1
-
-# to match px4 we make the first bus number 1
-define HAL_I2C_BUS_BASE 1
-define HAL_I2C_INTERNAL_MASK 0
-
-# order of UARTs (and USB)
+# hwdef for Luminousbees flight board
+
+# MCU class and specific type
+MCU STM32F4xx STM32F427xx
+
+# board ID for firmware load
+APJ_BOARD_ID 11
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O3
+
+# serial port for stdout disabled, use USB console
+# STDOUT_SERIAL SD7
+# STDOUT_BAUDRATE 57600
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+# to match px4 we make the first bus number 1
+define HAL_I2C_BUS_BASE 1
+define HAL_I2C_INTERNAL_MASK 0
+
+# order of UARTs (and USB)
 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
-
-# UART4 is GPS
-PA0 UART4_TX UART4
-PA1 UART4_RX UART4 
-
-# Battery & current control
-PA2 BATT_VOLTAGE_SENS ADC1
-PA3 BATT_CURRENT_SENS ADC1
-PA4 VDD_5V_SENS ADC1 SCALE(2)
-
-# SPI1 is sensors bus
-PA5 SPI1_SCK SPI1
-PA6 SPI1_MISO SPI1
-PA7 SPI1_MOSI SPI1
-
-
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-
-PB2 BOOT1 INPUT
-PB5 VDD_BRICK_VALID INPUT
-
-# USART1 
-PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 as led strip control
-#PB6 USART1_TX USART1
-PB7 USART1_RX USART1
-
-# UWB DW1000
-PB4 UWB_CS CS
-
-PB8 I2C1_SCL I2C1
-PB9 I2C1_SDA I2C1
-
-# SPI2 is FRAM
-PB10 SPI2_SCK SPI2
-PB14 SPI2_MISO SPI2
-PB15 SPI2_MOSI SPI2
-
-PC0 VBUS_VALID INPUT
-PC4 SAFETY_IN INPUT PULLDOWN
-
-PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC
-
-PC8 SDIO_D0 SDIO
-PC9 SDIO_D1 SDIO
-PC10 SDIO_D2 SDIO
-PC11 SDIO_D3 SDIO
-PC12 SDIO_CK SDIO
-PD2 SDIO_CMD SDIO
-
-# USART2 serial2 telem1 connected to ESP
-
-PD4 BMI088_ACCEL_CS CS
-PD3 BMI088_GYRO_CS CS
-PD5 USART2_TX USART2
-PD6 USART2_RX USART2
-
-PD7 BARO_CS CS
-# PB7 BARO2_CS CS	# FOR DPS310 ON FRAME MICRO
-
-# USART3 serial3 telem2
-PD8 USART3_TX USART3
-PD9 USART3_RX USART3
-PD10 FRAM_CS CS
-
-
-PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
-PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
-
-# UART8
-PE0 UART8_RX UART8
-PE1 UART8_TX UART8
-
-#set up SPI bus4 for UWB
-PE2 SPI4_SCK SPI4
-PE5 SPI4_MISO SPI4
-PE6 SPI4_MOSI SPI4
-
-
-# UART7 is debug
-PE7 UART7_RX UART7 NODMA
-PE8 UART7_TX UART7 NODMA
-
-PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)     #52
-PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)     #50
-PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
-PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
-
-
-# SPI device table. The DEVID values are chosen to match the PX4 port
-# of ArduPilot so users don't need to re-do their accel and compass calibrations
-# when moving to ChibiOS
- SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
-SPIDEV bmi088_g    SPI4 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
-SPIDEV bmi088_a    SPI4 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
-SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
-SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
-define HAL_CHIBIOS_ARCH_FMUV4 1
-
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
-
-define HAL_STORAGE_SIZE        16384
-
-# enable RAMTROM parameter storage
-define HAL_WITH_RAMTRON 1
-
-# enable FAT filesystem
-define HAL_OS_FATFS_IO 1
-
-# pixracer has 3 LEDs, Red, Green, Blue
-define HAL_HAVE_PIXRACER_LED
-
-define HAL_GPIO_LED_ON  0
-define HAL_GPIO_LED_OFF 1
-
-# LED setup for PixracerLED driver
-PB11 LED_RED   OUTPUT GPIO(0)
-PB1  LED_GREEN OUTPUT GPIO(1)
-PB3  LED_BLUE  OUTPUT GPIO(2)
-
-define HAL_GPIO_A_LED_PIN 0
-define HAL_GPIO_B_LED_PIN 1
-define HAL_GPIO_C_LED_PIN 2
-
-# enable RTSCTS
-define AP_FEATURE_RTSCTS 1
-
-# battery setup
-define HAL_BATT_VOLT_PIN 2
-define HAL_BATT_CURR_PIN 3
-define HAL_BATT_VOLT_SCALE 10.1
-define HAL_BATT_CURR_SCALE 17.0
-
-# setup serial port defaults for ESP8266
-define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
-define HAL_SERIAL5_BAUD 921600
-
-# Set one or two IMUs
-#IMU Invensense SPI:icm20608 ROTATION_YAW_180
-IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
-define HAL_DEFAULT_INS_FAST_SAMPLE 1
-
-# 2 compasses. R15 has LIS3MDL instead of HMC5843
-COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
-COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
-
-# also probe all types of external I2C compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-
-# Barometer ( DPS310 under test on micro frame )
-BARO MS56XX SPI:ms5611_int
-# BARO DPS310      SPI:dps310
-
-# reserve plenty of memory for DMA for LED buffers
-define DMA_RESERVE_SIZE 32768
-
-# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'
+
+# UART4 is GPS
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4 
+
+# Battery & current control
+PA2 BATT_VOLTAGE_SENS ADC1
+PA3 BATT_CURRENT_SENS ADC1
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+
+# SPI1 is sensors bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+
+PB2 BOOT1 INPUT
+PB5 VDD_BRICK_VALID INPUT
+
+# USART1 
+PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 as led strip control
+#PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# UWB DW1000
+PB4 UWB_CS CS
+
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# SPI2 is FRAM
+PB10 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+PC0 VBUS_VALID INPUT
+PC4 SAFETY_IN INPUT PULLDOWN
+
+PC7 TIM8_CH2 TIM8 RCIN PULLDOWN LOW # also USART6_RX for serial RC
+
+PC8 SDIO_D0 SDIO
+PC9 SDIO_D1 SDIO
+PC10 SDIO_D2 SDIO
+PC11 SDIO_D3 SDIO
+PC12 SDIO_CK SDIO
+PD2 SDIO_CMD SDIO
+
+# USART2 serial2 telem1 connected to ESP
+
+PD4 BMI088_ACCEL_CS CS
+PD3 BMI088_GYRO_CS CS
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+PD7 BARO_CS CS
+# PB7 BARO2_CS CS	# FOR DPS310 ON FRAME MICRO
+
+# USART3 serial3 telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD10 FRAM_CS CS
+
+
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+
+# UART8
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+#set up SPI bus4 for UWB
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)     #52
+PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)     #50
+PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
+PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
+
+
+# SPI device table. The DEVID values are chosen to match the PX4 port
+# of ArduPilot so users don't need to re-do their accel and compass calibrations
+# when moving to ChibiOS
+ SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
+SPIDEV bmi088_g    SPI4 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a    SPI4 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
+SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
+SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
+define HAL_CHIBIOS_ARCH_FMUV4 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define HAL_STORAGE_SIZE        16384
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+
+# enable FAT filesystem
+define HAL_OS_FATFS_IO 1
+
+# pixracer has 3 LEDs, Red, Green, Blue
+define HAL_HAVE_PIXRACER_LED
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# LED setup for PixracerLED driver
+PB11 LED_RED   OUTPUT GPIO(0)
+PB1  LED_GREEN OUTPUT GPIO(1)
+PB3  LED_BLUE  OUTPUT GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# enable RTSCTS
+define AP_FEATURE_RTSCTS 1
+
+# battery setup
+define HAL_BATT_VOLT_PIN 2
+define HAL_BATT_CURR_PIN 3
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+# setup serial port defaults for ESP8266
+define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
+define HAL_SERIAL5_BAUD 921600
+
+# Set one or two IMUs
+#IMU Invensense SPI:icm20608 ROTATION_YAW_180
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# 2 compasses. R15 has LIS3MDL instead of HMC5843
+COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
+COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
+
+# also probe all types of external I2C compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# Barometer ( DPS310 under test on micro frame )
+BARO MS56XX SPI:ms5611_int
+# BARO DPS310      SPI:dps310
+
+# reserve plenty of memory for DMA for LED buffers
+define DMA_RESERVE_SIZE 32768
+
+# .env DEFAULT_PARAMETERS 'Tools/Frame_params/LuminousBee4_outdoor.param'
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef-bl.dat
index 6c671dfd1c..aeede2355d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef-bl.dat
@@ -1,51 +1,51 @@
-# LUMINOUS BEE 5.1
-# hw definition file for processing by chibios_hwdef.py
-
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-# board ID for firmware load
-APJ_BOARD_ID 1029
-
-# crystal frequency
-OSCILLATOR_HZ 24000000
-
-# flash size
-FLASH_SIZE_KB 2048
-
-# bootloader is installed at zero offset
-FLASH_RESERVE_START_KB 0
-
-# the location where the bootloader will put the firmware
-# the H743 has 128k sectors
-FLASH_BOOTLOADER_LOAD_KB 128
-
-# only one I2C bus
-I2C_ORDER I2C1
-
-define HAL_I2C_INTERNAL_MASK 0
-
-# order of UARTs (and USB) for bootloading
-SERIAL_ORDER OTG1 UART7
-
-# UART7 is debug
-PE7 UART7_RX UART7 NODMA
-PE8 UART7_TX UART7 NODMA
-
-# pins that USB is connected on.
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-# CS lines
-PB4 UWB_CS CS
-PC2 BMI088_ACCEL_CS CS
-PC15 BMI088_GYRO_CS CS
-PD7 BARO_CS CS
-PE15 MAG_CS CS
-
-PB11 LED_BOOTLOADER  OUTPUT
-define HAL_LED_ON 0
+# LUMINOUS BEE 5.1
+# hw definition file for processing by chibios_hwdef.py
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1029
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+define HAL_I2C_INTERNAL_MASK 0
+
+# order of UARTs (and USB) for bootloading
+SERIAL_ORDER OTG1 UART7
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# pins that USB is connected on.
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS lines
+PB4 UWB_CS CS
+PC2 BMI088_ACCEL_CS CS
+PC15 BMI088_GYRO_CS CS
+PD7 BARO_CS CS
+PE15 MAG_CS CS
+
+PB11 LED_BOOTLOADER  OUTPUT
+define HAL_LED_ON 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat
index e5d5e6c370..0335b8a0ed 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/luminousbee5/hwdef.dat
@@ -1,226 +1,226 @@
-# LUMINOUS BEE 5.1
-# hw definition file for processing by chibios_hwdef.py
-
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-# board ID for firmware load
-APJ_BOARD_ID 1029
-
-# crystal frequency
-OSCILLATOR_HZ 24000000
-
-# flash size
-FLASH_SIZE_KB 2048
-
-# with 2M flash we can afford to optimize for speed
-env OPTIMIZE -O2
-
-FLASH_RESERVE_START_KB 128
-
-define HAL_STORAGE_SIZE 16384
-
-# only one I2C bus
-I2C_ORDER I2C1
-
-define HAL_I2C_INTERNAL_MASK 0
-
-# order of UARTs (and USB)
-SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
-
-# UART4 is GPS
-PA0 UART4_TX UART4
-PA1 UART4_RX UART4
-
-# Battery & current control
-PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
-PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
-PA4 VDD_5V_SENS ADC1 SCALE(2)
-
-# SPI1 is sensors bus
-PA5 SPI1_SCK SPI1
-PA6 SPI1_MISO SPI1
-PA7 SPI1_MOSI SPI1
-
-# This is the pin that senses USB being connected. It is an input pin
-# setup as OPENDRAIN.
-PA9 VBUS INPUT #OPENDRAIN
-
-# Now we define the pins that USB is connected on.
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-# PWM output for buzzer
-PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
-
-PB2 BOOT1 INPUT
-#PB5 VDD_BRICK_VALID INPUT
-PB5 VDD_BRICK_VALID INPUT PULLDOWN
-
-# USART1 TX  now as led strip control
-PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 
-# PB6 USART1_TX USART1
-PB7 USART1_RX USART1
-
-
-# UWB DW1000
-PB4 UWB_CS CS
-
-PB8 I2C1_SCL I2C1
-PB9 I2C1_SDA I2C1
-
-# SPI2 is FRAM
-PB10 SPI2_SCK SPI2
-PB12 CAN2_RX CAN2
-PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
-PB14 SPI2_MISO SPI2
-PB15 SPI2_MOSI SPI2
-
-#PC0 VBUS_VALID INPUT
-PC0 VBUS_VALID INPUT PULLDOWN
-
-#BMI088 CS
-PC2 BMI088_ACCEL_CS CS
-PC15 BMI088_GYRO_CS CS
-
-PC3 LED_SAFETY OUTPUT
-PC4 SAFETY_IN INPUT PULLDOWN
-PC5 VDD_PERIPH_EN OUTPUT HIGH
-PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC
-
-# Now setup the pins for the microSD card, if available.
-PC8 SDMMC1_D0 SDMMC1
-PC9 SDMMC1_D1 SDMMC1
-PC10 SDMMC1_D2 SDMMC1
-PC11 SDMMC1_D3 SDMMC1
-PC12 SDMMC1_CK SDMMC1
-PD2 SDMMC1_CMD SDMMC1
-
-
-PC13 SBUS_INV OUTPUT
-
-
-PD0 CAN1_RX CAN1
-PD1 CAN1_TX CAN1
-
-# USART2 serial2 telem1
-
-
-PD5 USART2_TX USART2
-PD6 USART2_RX USART2
-
-PD7 BARO_CS CS
-
-
-# USART3 serial3 telem2
-PD8 USART3_TX USART3
-PD9 USART3_RX USART3
-PD11 USART3_CTS USART3
-PD12 USART3_RTS USART3
-
-# The CS pin for FRAM (ramtron). This one is marked as using
-# SPEED_VERYLOW, which matches the HAL_PX4 setup.
-PD10 FRAM_CS CS SPEED_VERYLOW
-
-
-PD15 20608_DRDY INPUT  # IMU Luminous Bee
-# UART8 serial4 FrSky
-PE0 UART8_RX UART8
-PE1 UART8_TX UART8
-
-
-
-#set up SPI bus4 for UWB
-PE2 SPI4_SCK SPI4
-PE5 SPI4_MISO SPI4
-PE6 SPI4_MOSI SPI4
-
-
-PE3 VDD_SENSORS_EN OUTPUT HIGH
-PE4 SPEKTRUM_PWR OUTPUT HIGH
-
-# UART7 is debug
-PE7 UART7_RX UART7 NODMA
-PE8 UART7_TX UART7 NODMA
-
-PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)     #52
-PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)     #50
-PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
-PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
-PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
-PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
-
-
-PE12 MAG_DRDY INPUT
-PE15 MAG_CS CS
-
-# SPI device table. The DEVID values are chosen to match the PX4 port
-# of ArduPilot so users don't need to re-do their accel and compass calibrations
-# when moving to ChibiOS
-# SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
-SPIDEV dps310      SPI2 DEVID3  BARO_CS           MODE3  5*MHZ  5*MHZ
-#SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
-SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
-SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
-SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
-SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
-SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
-
-define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
-define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
-
-define HAL_STORAGE_SIZE        16384
-
-# enable RAMTROM parameter storage
-define HAL_WITH_RAMTRON 1
-
-# fallback to flash is no FRAM fitted
-#define STORAGE_FLASH_PAGE 22
-
-# Enable FAT filesystem support (needs a microSD defined via SDMMC).
-define HAL_OS_FATFS_IO 1
-
-# pixracer has 3 LEDs, Red, Green, Blue
-define HAL_HAVE_PIXRACER_LED
-
-define HAL_GPIO_LED_ON  0
-define HAL_GPIO_LED_OFF 1
-
-# LED setup for PixracerLED driver
-PB11 LED_RED   OUTPUT GPIO(0)
-PB1  LED_GREEN OUTPUT GPIO(1)
-PB3  LED_BLUE  OUTPUT GPIO(2)
-
-define HAL_GPIO_A_LED_PIN 0
-define HAL_GPIO_B_LED_PIN 1
-define HAL_GPIO_C_LED_PIN 2
-
-# battery setup
-define HAL_BATT_VOLT_PIN 14
-define HAL_BATT_CURR_PIN 15
-define HAL_BATT_VOLT_SCALE 10.1
-define HAL_BATT_CURR_SCALE 17.0
-
-# setup serial port defaults for ESP8266
-define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
-define HAL_SERIAL5_BAUD 921600
-
-# two IMUs
-#IMU Invensense SPI:icm20608 ROTATION_YAW_180
-IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
-define HAL_DEFAULT_INS_FAST_SAMPLE 1
-
-# 2 compasses. R15 has LIS3MDL instead of HMC5843
-COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
-#COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
-#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
-
-# also probe all types of external I2C compasses
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-
-# TWO barometer
-BARO DPS280      SPI:dps310
+# LUMINOUS BEE 5.1
+# hw definition file for processing by chibios_hwdef.py
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1029
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+FLASH_RESERVE_START_KB 128
+
+define HAL_STORAGE_SIZE 16384
+
+# only one I2C bus
+I2C_ORDER I2C1
+
+define HAL_I2C_INTERNAL_MASK 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 USART1 UART7
+
+# UART4 is GPS
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# Battery & current control
+PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+
+# SPI1 is sensors bus
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# This is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN.
+PA9 VBUS INPUT #OPENDRAIN
+
+# Now we define the pins that USB is connected on.
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# These are the pins for SWD debugging with a STlinkv2 or black-magic probe.
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# PWM output for buzzer
+PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
+
+PB2 BOOT1 INPUT
+#PB5 VDD_BRICK_VALID INPUT
+PB5 VDD_BRICK_VALID INPUT PULLDOWN
+
+# USART1 TX  now as led strip control
+PB6 TIM4_CH1 TIM4 PWM(7) GPIO(56)  # PB6 
+# PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+
+# UWB DW1000
+PB4 UWB_CS CS
+
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# SPI2 is FRAM
+PB10 SPI2_SCK SPI2
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2 # this is SPI2_SCK on beta board
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+#PC0 VBUS_VALID INPUT
+PC0 VBUS_VALID INPUT PULLDOWN
+
+#BMI088 CS
+PC2 BMI088_ACCEL_CS CS
+PC15 BMI088_GYRO_CS CS
+
+PC3 LED_SAFETY OUTPUT
+PC4 SAFETY_IN INPUT PULLDOWN
+PC5 VDD_PERIPH_EN OUTPUT HIGH
+PC7 TIM3_CH2 TIM3 RCININT PULLDOWN LOW # also USART6_RX for serial RC
+
+# Now setup the pins for the microSD card, if available.
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+
+PC13 SBUS_INV OUTPUT
+
+
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# USART2 serial2 telem1
+
+
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+PD7 BARO_CS CS
+
+
+# USART3 serial3 telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
+
+# The CS pin for FRAM (ramtron). This one is marked as using
+# SPEED_VERYLOW, which matches the HAL_PX4 setup.
+PD10 FRAM_CS CS SPEED_VERYLOW
+
+
+PD15 20608_DRDY INPUT  # IMU Luminous Bee
+# UART8 serial4 FrSky
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+
+
+#set up SPI bus4 for UWB
+PE2 SPI4_SCK SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+
+PE3 VDD_SENSORS_EN OUTPUT HIGH
+PE4 SPEKTRUM_PWR OUTPUT HIGH
+
+# UART7 is debug
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PE11 TIM1_CH2 TIM1 PWM(1) GPIO(50)     #52
+PE14 TIM1_CH4 TIM1 PWM(2) GPIO(51)     #50
+PE9 TIM1_CH1 TIM1 PWM(3) GPIO(52)      #53
+PE13 TIM1_CH3 TIM1 PWM(4) GPIO(53)     #51
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+
+
+PE12 MAG_DRDY INPUT
+PE15 MAG_CS CS
+
+# SPI device table. The DEVID values are chosen to match the PX4 port
+# of ArduPilot so users don't need to re-do their accel and compass calibrations
+# when moving to ChibiOS
+# SPIDEV ms5611_int  SPI2 DEVID3  BARO_CS    MODE3  20*MHZ  20*MHZ
+SPIDEV dps310      SPI2 DEVID3  BARO_CS           MODE3  5*MHZ  5*MHZ
+#SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
+SPIDEV hmc5843     SPI1 DEVID5  MAG_CS     MODE3  11*MHZ  11*MHZ
+SPIDEV bmi088_g    SPI1 DEVID1  BMI088_GYRO_CS    MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a    SPI1 DEVID2  BMI088_ACCEL_CS   MODE3 10*MHZ 10*MHZ
+SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    		MODE3   8*MHZ   8*MHZ
+SPIDEV dwm1000     SPI4 DEVID5  UWB_CS     		MODE0   3*MHZ  20*MHZ
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define HAL_STORAGE_SIZE        16384
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+
+# fallback to flash is no FRAM fitted
+#define STORAGE_FLASH_PAGE 22
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC).
+define HAL_OS_FATFS_IO 1
+
+# pixracer has 3 LEDs, Red, Green, Blue
+define HAL_HAVE_PIXRACER_LED
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# LED setup for PixracerLED driver
+PB11 LED_RED   OUTPUT GPIO(0)
+PB1  LED_GREEN OUTPUT GPIO(1)
+PB3  LED_BLUE  OUTPUT GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# battery setup
+define HAL_BATT_VOLT_PIN 14
+define HAL_BATT_CURR_PIN 15
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+# setup serial port defaults for ESP8266
+define HAL_SERIAL5_PROTOCOL SerialProtocol_MAVLink
+define HAL_SERIAL5_BAUD 921600
+
+# two IMUs
+#IMU Invensense SPI:icm20608 ROTATION_YAW_180
+IMU BMI088       SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# 2 compasses. R15 has LIS3MDL instead of HMC5843
+COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
+#COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
+#COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
+
+# also probe all types of external I2C compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# TWO barometer
+BARO DPS280      SPI:dps310
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
index 2ce32bd3fd..086cc55a62 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
@@ -1,98 +1,98 @@
-# hw definition file for processing by chibios_pins.py
-
-# MCU class and specific type
-MCU STM32G4xx STM32G491xx
-
-# use DNA
-define HAL_CAN_DEFAULT_NODE_ID 0
-
-define CAN_APP_NODE_NAME "io.mrobotics.mRo-M10095"
-
-# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
-FLASH_RESERVE_START_KB 30
-
-# store parameters in pages 13 and 14
-define STORAGE_FLASH_PAGE 13
-define HAL_STORAGE_SIZE 800
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-
-# enable watchdog
-define HAL_WATCHDOG_ENABLED_DEFAULT true
-
-# crystal frequency
-OSCILLATOR_HZ 8000000
-
-# assume the 512k flash part
-FLASH_SIZE_KB 512
-
-# board ID for firmware load
-APJ_BOARD_ID 1041
-
-define HAL_CAN_POOL_SIZE 6000
-
-# LEDs
-PA4 LED OUTPUT HIGH
-
-# debugger support
-PA13 JTMS-SWDIO SWD
-PA14 JTCK-SWCLK SWD
-
-# Order of I2C buses
-I2C_ORDER I2C1
-
-# this board only has a single I2C bus so make it external
-define HAL_I2C_INTERNAL_MASK 0
-
-# Now the first I2C bus. The pin speeds are automatically setup
-# correctly, but can be overridden here if needed.
-PA15 I2C1_SCL I2C1
-PB7 I2C1_SDA I2C1
-
-# an I2C baro (DPS310)
-BARO DPS280 I2C:0:0x77
-
-define HAL_PERIPH_ENABLE_BARO
-
-PA0 VSENSE50  ADC1 SCALE(3)
-PA1 VSENSE3v3 ADC1 SCALE(2)
-
-define NO_DATAFLASH TRUE
-
-define DMA_RESERVE_SIZE 2048
-
-define HAL_USE_ADC TRUE
-
-define STM32_ADC_USE_ADC1 TRUE
-
-# order of UARTs
-SERIAL_ORDER USART1
-
-STDOUT_SERIAL SD1
-STDOUT_BAUDRATE 57600
-
-# USART1, telemetry
-PA9 USART1_TX USART1 SPEED_HIGH
-PA10 USART1_RX USART1 SPEED_HIGH
-
-# stack for fast interrupts
-define PORT_INT_REQUIRED_STACK 64
-
-define HAL_DISABLE_LOOP_DELAY
-
-PA11 CAN1_RX CAN1
-PA12 CAN1_TX CAN1
-
-define HAL_NO_MONITOR_THREAD
-
-define HAL_MINIMIZE_FEATURES 0
-
-define AP_PARAM_MAX_EMBEDDED_PARAM 512
-
-# keep ROMFS uncompressed as we don't have enough RAM
-# to uncompress the bootloader at runtime
-env ROMFS_UNCOMPRESSED True
-
-# don't share any DMA channels (there are enough for everyone)
-DMA_NOSHARE *
+# hw definition file for processing by chibios_pins.py
+
+# MCU class and specific type
+MCU STM32G4xx STM32G491xx
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "io.mrobotics.mRo-M10095"
+
+# bootloader starts firmware at 26k + 4k (STORAGE_FLASH)
+FLASH_RESERVE_START_KB 30
+
+# store parameters in pages 13 and 14
+define STORAGE_FLASH_PAGE 13
+define HAL_STORAGE_SIZE 800
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# enable watchdog
+define HAL_WATCHDOG_ENABLED_DEFAULT true
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+
+# assume the 512k flash part
+FLASH_SIZE_KB 512
+
+# board ID for firmware load
+APJ_BOARD_ID 1041
+
+define HAL_CAN_POOL_SIZE 6000
+
+# LEDs
+PA4 LED OUTPUT HIGH
+
+# debugger support
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Order of I2C buses
+I2C_ORDER I2C1
+
+# this board only has a single I2C bus so make it external
+define HAL_I2C_INTERNAL_MASK 0
+
+# Now the first I2C bus. The pin speeds are automatically setup
+# correctly, but can be overridden here if needed.
+PA15 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# an I2C baro (DPS310)
+BARO DPS280 I2C:0:0x77
+
+define HAL_PERIPH_ENABLE_BARO
+
+PA0 VSENSE50  ADC1 SCALE(3)
+PA1 VSENSE3v3 ADC1 SCALE(2)
+
+define NO_DATAFLASH TRUE
+
+define DMA_RESERVE_SIZE 2048
+
+define HAL_USE_ADC TRUE
+
+define STM32_ADC_USE_ADC1 TRUE
+
+# order of UARTs
+SERIAL_ORDER USART1
+
+STDOUT_SERIAL SD1
+STDOUT_BAUDRATE 57600
+
+# USART1, telemetry
+PA9 USART1_TX USART1 SPEED_HIGH
+PA10 USART1_RX USART1 SPEED_HIGH
+
+# stack for fast interrupts
+define PORT_INT_REQUIRED_STACK 64
+
+define HAL_DISABLE_LOOP_DELAY
+
+PA11 CAN1_RX CAN1
+PA12 CAN1_TX CAN1
+
+define HAL_NO_MONITOR_THREAD
+
+define HAL_MINIMIZE_FEATURES 0
+
+define AP_PARAM_MAX_EMBEDDED_PARAM 512
+
+# keep ROMFS uncompressed as we don't have enough RAM
+# to uncompress the bootloader at runtime
+env ROMFS_UNCOMPRESSED True
+
+# don't share any DMA channels (there are enough for everyone)
+DMA_NOSHARE *