diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoCZeroOEMH7-bdshot/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoCZeroOEMH7-bdshot/hwdef-bl.dat
new file mode 100644
index 0000000000..ec26542bfe
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoCZeroOEMH7-bdshot/hwdef-bl.dat
@@ -0,0 +1 @@
+include ../mRoControlZeroOEMH7/hwdef-bl.dat
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRoCZeroOEMH7-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRoCZeroOEMH7-bdshot/hwdef.dat
new file mode 100644
index 0000000000..bd93bbaaaf
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRoCZeroOEMH7-bdshot/hwdef.dat
@@ -0,0 +1,16 @@
+# Bi-directional dshot version of mRoControlZeroOEMH7
+
+include ../mRoControlZeroOEMH7/hwdef.dat
+
+# undefine the pins we are going to change
+undef PE14 PE13 PE11 PE9 PD13 PD14 PI5 PI6
+
+# Motors
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) BIDIR
+PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) BIDIR
+PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54) BIDIR
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55) BIDIR
+PI5  TIM8_CH1 TIM8 PWM(7) GPIO(56) BIDIR
+PI6  TIM8_CH2 TIM8 PWM(8) GPIO(57)