diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 91e928f6ab..8e5a17787b 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -161,8 +161,8 @@ void hal_chibios_set_priority(uint8_t priority)
 {
     chSysLock();
 #if CH_CFG_USE_MUTEXES == TRUE
-    if ((daemon_task->prio == daemon_task->realprio) || (priority > daemon_task->prio)) {
-      daemon_task->prio = priority;
+    if ((daemon_task->hdr.pqueue.prio == daemon_task->realprio) || (priority > daemon_task->hdr.pqueue.prio)) {
+      daemon_task->hdr.pqueue.prio = priority;
     }
     daemon_task->realprio = priority;
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index e2cfef7a29..f2f7879fe8 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -762,7 +762,7 @@ void Scheduler::check_stack_free(void)
         if (stack_free(tp->wabase) < min_stack) {
             // use task priority for line number. This allows us to
             // identify the task fairly reliably
-            AP::internalerror().error(AP_InternalError::error_t::stack_overflow, tp->prio);
+            AP::internalerror().error(AP_InternalError::error_t::stack_overflow, tp->realprio);
         }
     }
 }
diff --git a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
index 979be1d66e..186386fed6 100644
--- a/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
+++ b/libraries/AP_HAL_ChibiOS/UARTDriver.cpp
@@ -120,7 +120,7 @@ void UARTDriver::uart_thread()
         // change the thread priority if requested - if unbuffered it should only have higher priority than the owner so that
         // handoff occurs immediately
         if (mask & EVT_TRANSMIT_UNBUFFERED) {
-            chThdSetPriority(unbuffered_writes ? MIN(_uart_owner_thd->prio + 1, APM_UART_UNBUFFERED_PRIORITY) : APM_UART_PRIORITY);
+            chThdSetPriority(unbuffered_writes ? MIN(_uart_owner_thd->realprio + 1, APM_UART_UNBUFFERED_PRIORITY) : APM_UART_PRIORITY);
         }
 #ifndef HAL_UART_NODMA
         osalDbgAssert(!dma_handle || !dma_handle->is_locked(), "DMA handle is already locked");
diff --git a/libraries/AP_HAL_ChibiOS/Util.cpp b/libraries/AP_HAL_ChibiOS/Util.cpp
index cb88434669..a0467377c5 100644
--- a/libraries/AP_HAL_ChibiOS/Util.cpp
+++ b/libraries/AP_HAL_ChibiOS/Util.cpp
@@ -357,14 +357,14 @@ void Util::thread_info(ExpandingString &str)
       }
 #if HAL_ENABLE_THREAD_STATISTICS
       str.printf("%-13.13s PRI=%3u sp=%p STACK=%4u/%4u MIN=%4u AVG=%4u MAX=%4u\n",
-                 tp->name, unsigned(tp->prio), tp->wabase,
+                 tp->name, unsigned(tp->realprio), tp->wabase,
                  unsigned(stack_free(tp->wabase)), unsigned(total_stack), unsigned(RTC2US(STM32_HSECLK, tp->stats.best)),
                  unsigned(RTC2US(STM32_HSECLK, uint32_t(tp->stats.cumulative / uint64_t(tp->stats.n)))),
                  unsigned(RTC2US(STM32_HSECLK, tp->stats.worst)));
       chTMObjectInit(&tp->stats); // reset counters to zero
 #else
       str.printf("%-13.13s PRI=%3u sp=%p STACK=%u/%u\n",
-                 tp->name, unsigned(tp->prio), tp->wabase,
+                 tp->name, unsigned(tp->realprio), tp->wabase,
                  unsigned(stack_free(tp->wabase)), unsigned(total_stack));
 #endif
   }
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/ffconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/ffconf.h
index 9c555c8816..129e9f3128 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/ffconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/ffconf.h
@@ -7,7 +7,7 @@
 /  FatFs - FAT file system module configuration file
 /---------------------------------------------------------------------------*/
 
-#define FFCONF_DEF 87030   /* Revision ID */
+#define FFCONF_DEF 80196   /* Revision ID */
 
 /*---------------------------------------------------------------------------/
 / Function Configurations
@@ -126,6 +126,12 @@
 /  To use Unicode string for the path name, enable LFN and set _LFN_UNICODE = 1.
 /  This option also affects behavior of string I/O functions. */
 
+#define FF_LFN_BUF              255
+#define FF_SFN_BUF              12
+/* This set of options defines size of file name members in the FILINFO structure
+/  which is used to read out directory items. These values should be suffcient for
+/  the file names to read. The maximum possible length of the read file name depends
+/  on character encoding. When LFN is not enabled, these options have no effect. */
 
 #define FF_STRF_ENCODE    3
 /* When _LFN_UNICODE == 1, this option selects the character encoding ON THE FILE to
@@ -183,6 +189,14 @@
 /  to variable sector size and GET_SECTOR_SIZE command must be implemented to the
 /  disk_ioctl() function. */
 
+#define FF_LBA64               0
+/* This option switches support for 64-bit LBA. (0:Disable or 1:Enable)
+/  To enable the 64-bit LBA, also exFAT needs to be enabled. (FF_FS_EXFAT == 1) */
+
+
+#define FF_MIN_GPT             0x100000000
+/* Minimum number of sectors to switch GPT format to create partition in f_mkfs and
+/  f_fdisk function. 0x100000000 max. This option has no effect when FF_LBA64 == 0. */
 
 #define FF_USE_TRIM       0
 /* This option switches support of ATA-TRIM. (0:Disable or 1:Enable)
@@ -247,7 +261,7 @@
 
 
 #define FF_FS_REENTRANT   0
-#define FF_FS_TIMEOUT     chTimeMS2I(1000)
+#define FF_FS_TIMEOUT     MS2ST(1000)
 #define FF_SYNC_t         semaphore_t*
 /* The option _FS_REENTRANT switches the re-entrancy (thread safe) of the FatFs
 /  module itself. Note that regardless of this option, file access to different
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
index eef1f372d9..b9620b76b8 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
@@ -206,20 +206,21 @@
 /*
  * EXT driver system settings.
  */
-#define STM32_EXT_EXTI0_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI1_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI2_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI3_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI4_IRQ_PRIORITY        6
-#define STM32_EXT_EXTI5_9_IRQ_PRIORITY      6
-#define STM32_EXT_EXTI10_15_IRQ_PRIORITY    6
-#define STM32_EXT_EXTI16_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI17_IRQ_PRIORITY       15
-#define STM32_EXT_EXTI18_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI19_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI20_IRQ_PRIORITY       6
-#define STM32_EXT_EXTI21_IRQ_PRIORITY       15
-#define STM32_EXT_EXTI22_IRQ_PRIORITY       15
+#define STM32_IRQ_EXTI0_PRIORITY        6
+#define STM32_IRQ_EXTI1_PRIORITY        6
+#define STM32_IRQ_EXTI2_PRIORITY        6
+#define STM32_IRQ_EXTI3_PRIORITY        6
+#define STM32_IRQ_EXTI4_PRIORITY        6
+#define STM32_IRQ_EXTI5_9_PRIORITY      6
+#define STM32_IRQ_EXTI10_15_PRIORITY    6
+#define STM32_IRQ_EXTI16_PRIORITY       6
+#define STM32_IRQ_EXTI17_PRIORITY       15
+#define STM32_IRQ_EXTI18_PRIORITY       6
+#define STM32_IRQ_EXTI19_PRIORITY       6
+#define STM32_IRQ_EXTI20_PRIORITY       6
+#define STM32_IRQ_EXTI21_PRIORITY       15
+#define STM32_IRQ_EXTI22_PRIORITY       15
+#define STM32_IRQ_EXTI23_PRIORITY       15
 
 /*
  * GPT driver system settings.
@@ -395,15 +396,28 @@
 #define STM32_ST_USE_TIMER                  2
 #endif
 
+#define STM32_IRQ_TIM1_UP_PRIORITY          7
+#define STM32_IRQ_TIM1_UP_TIM10_PRIORITY    7
+#define STM32_IRQ_TIM1_CC_PRIORITY          7
+#define STM32_IRQ_TIM2_PRIORITY             7
+#define STM32_IRQ_TIM3_PRIORITY             7
+#define STM32_IRQ_TIM4_PRIORITY             7
+#define STM32_IRQ_TIM5_PRIORITY             7
+#define STM32_IRQ_TIM6_PRIORITY             7
+#define STM32_IRQ_TIM7_PRIORITY             7
+#define STM32_IRQ_TIM8_BRK_TIM12_PRIORITY   7
+#define STM32_IRQ_TIM1_BRK_TIM9_PRIORITY    7
+#define STM32_IRQ_TIM8_UP_TIM13_PRIORITY    7
+#define STM32_IRQ_TIM8_TRGCO_TIM14_PRIORITY 7
+#define STM32_IRQ_TIM1_TRGCO_TIM11_PRIORITY 7
+#define STM32_IRQ_TIM8_CC_PRIORITY          7
+#define STM32_IRQ_TIM15_PRIORITY            7
+#define STM32_IRQ_TIM16_PRIORITY            7
+#define STM32_IRQ_TIM17_PRIORITY            7
+
 /*
  * UART driver system settings.
  */
-#define STM32_UART_USART1_IRQ_PRIORITY      12
-#define STM32_UART_USART2_IRQ_PRIORITY      12
-#define STM32_UART_USART3_IRQ_PRIORITY      12
-#define STM32_UART_UART4_IRQ_PRIORITY       12
-#define STM32_UART_UART5_IRQ_PRIORITY       12
-#define STM32_UART_USART6_IRQ_PRIORITY      12
 #define STM32_UART_USART1_DMA_PRIORITY      0
 #define STM32_UART_USART2_DMA_PRIORITY      0
 #define STM32_UART_USART3_DMA_PRIORITY      0
@@ -412,6 +426,23 @@
 #define STM32_UART_USART6_DMA_PRIORITY      0
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
+#define STM32_IRQ_UART1_PRIORITY            12
+#define STM32_IRQ_UART2_PRIORITY            12
+#define STM32_IRQ_UART3_PRIORITY            12
+#define STM32_IRQ_UART4_PRIORITY            12
+#define STM32_IRQ_UART5_PRIORITY            12
+#define STM32_IRQ_UART6_PRIORITY            12
+#define STM32_IRQ_UART7_PRIORITY            12
+#define STM32_IRQ_UART8_PRIORITY            12
+#define STM32_IRQ_USART1_PRIORITY           12
+#define STM32_IRQ_USART2_PRIORITY           12
+#define STM32_IRQ_USART3_PRIORITY           12
+#define STM32_IRQ_USART4_PRIORITY           12
+#define STM32_IRQ_USART5_PRIORITY           12
+#define STM32_IRQ_USART6_PRIORITY           12
+#define STM32_IRQ_USART7_PRIORITY           12
+#define STM32_IRQ_USART8_PRIORITY           12
+
 /*
  * USB driver system settings.
  */
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
index a24767e373..48dbb35a4e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
@@ -241,6 +241,7 @@
 #define STM32_RTCPRE_VALUE                  8
 #ifndef STM32_CKPERSEL
 #define STM32_CKPERSEL                      STM32_CKPERSEL_HSE_CK
+#endif
 #define STM32_SDMMCSEL                      STM32_SDMMCSEL_PLL2_R_CK
 #define STM32_QSPISEL                       STM32_QSPISEL_HCLK
 #define STM32_FMCSEL                        STM32_QSPISEL_HCLK
@@ -520,6 +521,8 @@
 #define STM32_UART_UART8_DMA_PRIORITY       0
 #define STM32_UART_DMA_ERROR_HOOK(uartp)    osalSysHalt("DMA failure")
 
+#define STM32_IRQ_LPUART1_PRIORITY          12
+
 /*
  * USB driver system settings.
  */
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index 1979f2d76b..d00e27d457 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -821,6 +821,9 @@ def write_mcu_config(f):
 #define CH_CFG_USE_MAILBOXES FALSE
 #define CH_CFG_USE_FACTORY FALSE
 #define CH_CFG_USE_MEMCORE FALSE
+#define CH_CFG_USE_DELEGATES FALSE
+#define CH_CFG_USE_JOBS FALSE
+#define CH_CFG_USE_OBJ_CACHES FALSE
 #define HAL_USE_I2C FALSE
 #define HAL_USE_PWM FALSE
 #define CH_DBG_ENABLE_STACK_CHECK FALSE
diff --git a/libraries/AP_HAL_ChibiOS/system.cpp b/libraries/AP_HAL_ChibiOS/system.cpp
index bc7d41064b..2fa06d6db1 100644
--- a/libraries/AP_HAL_ChibiOS/system.cpp
+++ b/libraries/AP_HAL_ChibiOS/system.cpp
@@ -80,7 +80,7 @@ static void save_fault_watchdog(uint16_t line, FaultType fault_type, uint32_t fa
             pd.fault_addr = fault_addr;
             thread_t *tp = chThdGetSelfX();
             if (tp) {
-                pd.fault_thd_prio = tp->prio;
+                pd.fault_thd_prio = tp->hdr.pqueue.prio;
                 // get first 4 bytes of the name, but only of first fault
                 if (tp->name && pd.thread_name4[0] == 0) {
                     strncpy_noterm(pd.thread_name4, tp->name, 4);