diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/README.md b/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/README.md
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+# SIYI N7 Flight Controller
+
+The SIYI N7 flight controller is sold by a range of
+resellers, linked from https://siyi.biz
+
+## Features
+
+ - STM32H743 microcontroller
+ - ICM20689 and BMI088 IMUs
+ - internal heater for IMU temperature control
+ - internal vibration isolation for IMUs
+ - MS5611 SPI barometer
+ - builtin IST8310 compass
+ - microSD card slot
+ - 4 UARTs plus USB
+ - 13 PWM outputs
+ - I2C and CAN ports
+ - RCIN port
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - power input port for external power bricks
+
+## Pinout
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1)
+ - SERIAL2 -> unused
+ - SERIAL3 -> UART1 (GPS)
+ - SERIAL4 -> UART4 (GPS2, Telem4/I2C)
+ - SERIAL5 -> unused
+ - SERIAL6 -> UART7 (debug port)
+ - SERIAL7 -> USB2 (virtual port on same connector)
+
+The Telem1 port has RTS/CTS pins, the other UARTs do not have RTS/CTS.
+
+## Connectors
+
+Unless noted otherwise all connectors are JST GH
+
+### TELEM1 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ CTS |
+ +3.3V |
+
+
+ | 5 (blk) |
+ RTS |
+ +3.3V |
+
+
+ | 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### GPS1 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ SCL I2C1 |
+ +3.3V |
+
+
+ | 5 (blk) |
+ SDA I2C1 |
+ +3.3V |
+
+
+ | 6 (blk) |
+ Button |
+ GND |
+
+
+ | 7 (blk) |
+ button LED |
+ GND |
+
+
+ | 8 (blk) |
+ 3.3V |
+ 3.3 |
+
+
+ | 9 (blk) |
+ buzzer |
+ GND |
+
+
+ | (blk) |
+ GND |
+ GND |
+
+
+
+
+
+
+### GPS2, Telem4/I2C port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 (blk) |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 (blk) |
+ SCL I2C2 |
+ +3.3V |
+
+
+ | 5 (blk) |
+ SDA I2C2 |
+ +3.3V |
+
+
+ | 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+### I2C
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ SCL |
+ +3.3 (pullups) |
+
+
+ | 3 (blk) |
+ SDA |
+ +3.3 (pullups) |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### CAN1
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ CAN_H |
+ +12V |
+
+
+ | 3 (blk) |
+ CAN_L |
+ +12V |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### POWER1
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (red) |
+ VCC |
+ +5V |
+
+
+ | 3 (blk) |
+ CURRENT |
+ up to +3.3V |
+
+
+ | 4 (blk) |
+ VOLTAGE |
+ up to +3.3V |
+
+ 5 (blk) |
+ GND |
+ GND |
+
+ 6 (blk) |
+ GND |
+ GND |
+
+
+
+
+
+### USB
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 (red) |
+ VCC |
+ +5V |
+
+
+ | 2 (blk) |
+ D_minus |
+ +3.3V |
+
+
+ | 3 (blk) |
+ D_plus |
+ +3.3V |
+
+
+ | 4 (blk) |
+ GND |
+ GND |
+
+
+
+
+## RC Input
+
+RC input is configured on the RCIN pin, at one end of the servo rail,
+marked RCIN in the above diagram. This pin supports all RC
+protocols.
+
+## PWM Output
+
+The SIYI N7 supports up to 13 PWM outputs. First first 8 outputs
+(labelled "MAIN") are controlled by a dedicated STM32F103 IO
+controller. These 8 outputs support all PWM output formats, but not
+DShot.
+
+The remaining 5 outputs (labelled AUX1 to AUX5) are the "auxiliary"
+outputs. These are directly attached to the STM32H743 and support all
+PWM protocols as well as DShot.
+
+All 13 PWM outputs have GND on the top row, 5V on the middle row and
+signal on the bottom row.
+
+The 8 main PWM outputs are in 3 groups:
+
+ - PWM 1 and 2 in group1
+ - PWM 3 and 4 in group2
+ - PWM 5, 6, 7 and 8 in group3
+
+The 4 auxiliary PWM outputs are in 2 groups:
+
+ - PWM 1, 2, 3 and 4 in group4
+ - PWM 5 in group5
+
+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 dedicated power monitor ports on a 6 pin
+connector. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+
+## Compass
+
+The SIYI N7 has one builtin IST8310 compass.
+
+## GPIOs
+
+The 5 AUX PWM ports can be used as GPIOs (relays, buttons, RPM etc).
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+ - PWM1 50
+ - PWM2 51
+ - PWM3 52
+ - PWM4 53
+ - PWM5 54
+
+## Analog inputs
+
+The SIYI N7 has 7 analog inputs
+
+ - ADC Pin16 -> Battery Voltage
+ - ADC Pin17 -> Battery Current Sensor
+
+## IMU Heater
+
+The IMU heater in the SIYI N7 can be controlled with the
+BRD_HEAT_TARG parameter, which is in degrees C.
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader,
+allowing the loading of *.apj firmware files with any ArduPilot
+compatible ground station.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef-bl.dat
new file mode 100644
index 0000000000..1bb63bfab1
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef-bl.dat
@@ -0,0 +1,46 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1123
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+FLASH_BOOTLOADER_LOAD_KB 128
+
+PB1 LED_RED OUTPUT LOW # red
+PC6 LED_ACTIVITY OUTPUT LOW # green
+PC7 LED_BOOTLOADER OUTPUT LOW # blue
+define HAL_LED_ON 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# pullup buzzer for no sound in bootloader
+PE5 BUZZER OUTPUT LOW PULLDOWN
+
+# Add CS pins to ensure they are high in bootloader
+PF10 MS5611_CS CS
+PF2 ICM20689_CS CS
+PF4 BMI055_G_CS CS
+PG10 BMI055_A_CS CS
+PF5 FRAM_CS CS SPEED_VERYLOW
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef.dat
new file mode 100644
index 0000000000..377f9209e9
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SIYI_N7/hwdef.dat
@@ -0,0 +1,242 @@
+# hw definition file for processing by chibios_hwdef.py
+
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1123
+
+FLASH_SIZE_KB 2048
+
+# with 2M flash we can afford to optimize for speed
+env OPTIMIZE -O2
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 EMPTY USART1 UART4 EMPTY UART7 OTG2
+
+# default the 2nd interface to MAVLink2
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+define HAL_STORAGE_SIZE 32768
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# debug pins
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 - internal sensors
+PG11 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI2 - FRAM
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+
+# SPI4 - sensors2
+PE2 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# sensor CS
+PF10 MS5611_CS CS
+PF2 ICM20689_CS CS
+PF4 BMI088_G_CS CS
+PG10 BMI088_A_CS CS
+PF5 FRAM_CS CS SPEED_VERYLOW
+
+# I2C buses
+
+# I2C1 is on GPS port
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# I2C on uart4 connector
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C for onboard mag
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4 is on external2
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C1 I2C2 I2C4
+
+define HAL_I2C_INTERNAL_MASK 1
+
+# enable pins
+PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
+PG7 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# drdy pins
+PB4 DRDY_ICM20689 INPUT
+PB14 DRDY_BMI088_GYRO INPUT
+PB15 DRDY_BMI088_ACC INPUT
+
+PD15 DRDY7_EXTERNAL INPUT
+
+# UARTs
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART1 is GPS1
+PB7 USART1_RX USART1 NODMA
+PB6 USART1_TX USART1 NODMA
+
+# UART4 GPS2
+PD0 UART4_RX UART4 NODMA
+PD1 UART4_TX UART4 NODMA
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# UART8 is for IOMCU
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# UART for IOMCU
+IOMCU_UART UART8
+
+# PWM AUX channels
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
+PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+
+# PWM output for buzzer
+PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
+
+# analog in
+PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PC0 VDD_5V_SENS ADC1 SCALE(2)
+PC1 SCALED_V3V3 ADC1 SCALE(2)
+
+# voltage divider 1/(16.9/(33+16.9))
+define HAL_IOMCU_VSERVO_SCALAR 1 / (16.9 / (33 + 16.9))
+
+# CAN bus
+PI9 CAN1_RX CAN1
+PH13 CAN1_TX CAN1
+
+PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# GPIOs
+PA7 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+
+PH5 AUX_CS CS
+
+PG1 VDD_BRICK_nVALID INPUT PULLUP
+PG2 VDD_BRICK2_nVALID INPUT PULLUP
+PA9 VBUS INPUT
+PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
+PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
+PB10 nSPI5_RESET_EXTERNAL OUTPUT HIGH
+
+# SPI devices
+SPIDEV ms5611 SPI4 DEVID1 MS5611_CS MODE3 20*MHZ 20*MHZ
+SPIDEV icm20689 SPI1 DEVID1 ICM20689_CS MODE3 2*MHZ 8*MHZ
+SPIDEV bmi088_g SPI1 DEVID3 BMI088_G_CS MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_a SPI1 DEVID4 BMI088_A_CS MODE3 10*MHZ 10*MHZ
+SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
+
+# Two IMUs
+IMU Invensense SPI:icm20689 ROTATION_NONE
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_ROLL_180_YAW_90
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+
+# microSD support
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+# red LED
+PB1 LED_RED OUTPUT GPIO(90)
+
+# green LED
+PC6 LED_GREEN OUTPUT GPIO(91) LOW
+
+# blue LED
+PC7 LED_BLUE OUTPUT GPIO(92) HIGH
+
+# setup for 2 LEDs
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 92
+define HAL_GPIO_LED_ON 0
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# safety switch pin
+PE10 LED_SAFETY OUTPUT
+PE12 SAFETY_IN INPUT PULLDOWN
+define HAL_HAVE_SAFETY_SWITCH 1
+
+# one baro
+BARO MS56XX SPI:ms5611
+
+# one builtin compass, plus one on the default GPS that is external with
+# a non-default orientation
+COMPASS IST8310 I2C:0:0x0e false ROTATION_PITCH_180_YAW_270
+
+define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_PITCH_180_YAW_270
+
+# compensate for magnetic field generated by the heater on the internal IST8310
+define HAL_HEATER_MAG_OFFSET {AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C,0,0xe,0x0a),Vector3f(15,35,-6)}
+
+# also probe for external compasses
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# don't share IOMCU DMA
+DMA_NOSHARE UART8* SPI1* TIM*UP*
+
+DMA_PRIORITY UART8* ADC* SPI1*
+
+# battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 16
+define HAL_BATT_CURR_PIN 17
+define HAL_BATT_VOLT_SCALE 18.182
+define HAL_BATT_CURR_SCALE 36.364
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin