diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/README.md b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/README.md
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+# BETAFPV F405 AIO Flight Controller
+
+The BETAFPV F405 AIO is a flight controller produced by [BETAFPV](https://betafpv.com/collections/brushless-flight-controller/products/f4-1s-12a-aio-brushless-flight-controller-v3-0).
+
+## Features
+
+ - MCU: STM32F405RGT6, 168MHz
+ - Gyro: ICM42688-P
+ - 16Mb Onboard Flash
+ - BEC output: 5V, 2A@4V
+ - Barometer: BMP280
+ - OSD: AT7456E
+ - 5 UARTS: (UART1, UART4, UART5, UART6)
+ - 5 PWM outputs (4 motor outputs used internally for integrated 4-in-1 ESC and 1 integrated LED)
+ - Integrated 4-in-1 BlueJay ESC
+
+## Pinout
+
+![BETAFPV F405 AIO Board](../BETAFPV-F405/betafpv_f405_pinout.jpg "BETAFPV F405 AIO")
+
+## 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.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL0|COMPUTER|USB|
+|SERIAL1|RX1/TX1|UART1 (RX, DMA-enabled)|
+|SERIAL4|TX4/RX4|UART4 (MSP DisplayPort)|
+|SERIAL5|RX5|UART5 (SBUS, RX-only)|
+|SERIAL6|TX6/RX6|UART6 (GPS, DMA-enabled)|
+
+## RC Input
+
+RC input is configured on the on-board ELRS on UART3 or through (UART6_RX/UART6_TX) pins. It supports all serial RC protocols.
+
+## OSD Support
+
+The BETAFPV F405 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The BETAFPV F405 AIO has 4 PWM outputs internally connected to its 4-in-1 ESC. The pads for motor output are M1 to M4 on the board. All 4 outputs support bi-directional DShot and DShot, as well as all PWM types. The default configuration is for bi-directional DShot using the already installed BlueJay firmware.
+
+The PWM are in in two groups:
+
+ - PWM 1-2 in group1
+ - PWM 3-4 in group2
+ - PWM 5 in group3
+
+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.
+
+## Battery Monitoring
+
+The board has a builtin voltage sensor and a current sensor input tied to its 4 in 1 ESC current sensor. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_VOLT_MULT 10.9
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT 50
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The BETAFPV F405 AIO does not have a builtin compass.
+
+## GPIO Pin / Relay
+
+The board has an IO pin on RELAY2 (GPIO pin 81) which can be enabled by setting BRD_ALT_CONFIG to 1.
+This then turns UART6_TX into a relay which can be used for controlling an external LED (e.g. on the Pavo 20 Pro)
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output.
+
+## 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.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/defaults.parm
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+++ b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/defaults.parm
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+# setup for LEDs on chan5
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
+NTF_LED_LEN 2
+# Bluejay installed by default
+SERVO_BLH_AUTO 1
+SERVO_BLH_BDMASK 15
+SERVO_DSHOT_ESC 2
+MOT_PWM_TYPE 6
+
+# io on alternate config is on
+RELAY2_DEFAULT 1
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/hwdef-bl.dat
new file mode 100644
index 0000000000..965799cb6a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/hwdef-bl.dat
@@ -0,0 +1 @@
+include ../BETAFPV-F405/hwdef-bl.dat
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/hwdef.dat
new file mode 100644
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--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405-I2C/hwdef.dat
@@ -0,0 +1,24 @@
+# i2c version of BETAFPV-F405
+
+include ../BETAFPV-F405/hwdef.dat
+
+# undefine the pins we are going to change
+undef PB4 PB10 PB11 PC6 PA3 PA2
+
+SERIAL_ORDER OTG1 USART1 EMPTY EMPTY UART4 EMPTY USART6
+
+undef DEFAULT_SERIAL1_PROTOCOL
+define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
+
+I2C_ORDER I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+PB4 EXTERN_GPIO1 OUTPUT GPIO(82)
+undef RELAY2_PIN_DEFAULT
+define RELAY2_PIN_DEFAULT 82
+
+PA3 TIM2_CH4 TIM2 PWM(3) GPIO(52)       # M3
+PA2 TIM2_CH3 TIM2 PWM(4) GPIO(53) BIDIR # M4
+
+DMA_NOSHARE SPI1* TIM2_UP TIM3_UP