diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB100/README.md b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/README.md
new file mode 100644
index 0000000000..5095332847
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/README.md
@@ -0,0 +1,123 @@
+# JFB-100 Flight Controller
+
+The JFB-100 flight controller is sold by [JAE](https://www.jae.com/files/user/motion-sense-control/catalog/jfb-100-ja.pdf)
+
+## Features
+
+ - STM32F765 microcontroller
+ - Two IMUs: ICM20602 and SCHA63T
+ - MS5611 SPI barometer
+ - builtin I2C IST8310 magnetometer
+ - microSD card slot
+ - 6 UARTs plus USB
+ - 8 PWM outputs
+ - Four I2C and two CAN ports
+ - External Buzzer
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - two dedicated power input ports for external power bricks
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1)
+ - SERIAL2 -> UART3 (Telem2)
+ - SERIAL3 -> UART1 (GPS)
+ - SERIAL4 -> UART4 (GPS2, marked UART/I2CB)
+ - SERIAL5 -> UART6 (RC)
+ - SERIAL6 -> UART7 (spare, debug)
+
+The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+The UART7 connector is labelled debug, but is available as a general
+purpose UART with ArduPilot.
+
+## RC Input
+ 
+RC input is configured on the port marked DSM/SBUS RC. This connector
+supports all RC protocols. Two cables are available for this port. To
+use software binding of Spektrum satellite receivers you need to use
+the Spektrum satellite cable.
+
+## PWM Output
+
+The JFB-100 supports up to 8 PWM outputs. 
+These are directly attached to the STM32F765 and support all
+PWM protocols. The first 4 of the PWM outputs support DShot.
+
+The 8 PWM outputs are in 3 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5 and 6 in group2
+ - PWM 7 and 8 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 two dedicated power monitor ports on 8 pin
+connectors. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+
+## Compass
+
+The JFB-100 has a builtin IST8310 compass. Due to potential
+interference the board is usually used with an external I2C compass as
+part of a GPS/Compass combination.
+
+## GPIOs
+
+The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
+use them you need to limit the number of these pins that is used for
+PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
+if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
+use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+ - AUX1 50
+ - AUX2 51
+ - AUX3 52
+ - AUX4 53
+ - AUX5 54
+ - AUX6 55
+
+## Analog inputs
+
+The JFB-100 has 7 analog inputs
+
+ - ADC Pin0 -> Battery Voltage
+ - ADC Pin1 -> Battery Current Sensor
+ - ADC Pin2 -> Battery Voltage 2
+ - ADC Pin3 -> Battery Current Sensor 2
+ - ADC Pin4 -> ADC port pin 2
+ - ADC Pin14 -> ADC port pin 3
+ - ADC Pin10 -> ADC 5V Sense
+ - ADC Pin11 -> ADC 3.3V Sense
+ - ADC Pin103 -> RSSI voltage monitoring
+
+## I2C Buses
+
+ - the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware)
+ - the port labelled I2CA is bus 3 in ArduPilot (I2C4 in hardware)
+ - the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware)
+ - the port labelled GPS is bus 1 in ArduPilot (I2c1 in hardware)
+
+
+## CAN
+
+The JFB-100 has two independent CAN buses, with the following pinouts.
+
+## Debug
+
+The JFB-100 supports SWD debugging on the debug port
+
+
+## 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/JFB100/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/defaults.parm
new file mode 100644
index 0000000000..cf9f0c51ec
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/defaults.parm
@@ -0,0 +1,3 @@
+# JFB-100 board default definition
+SERIAL5_OPTIONS,8
+SERIAL5_PROTOCOL,23
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB100/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/hwdef-bl.dat
new file mode 100644
index 0000000000..1c4bed2ea2
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/hwdef-bl.dat
@@ -0,0 +1,57 @@
+# hw definition file for processing by chibios_hwdef.py
+# for F765 bootloader
+
+# MCU class and specific type
+MCU STM32F7xx STM32F767xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1084
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 32
+
+PC6 LED_BOOTLOADER OUTPUT HIGH
+PC7 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 UART7
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+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
+
+# Add CS pins to ensure they are high in bootloader
+PF10 MS5611_CS CS
+PF2  SCHA63T_G_CS CS
+PF3  ICM20602_CS CS SPEED_VERYLOW
+PF4  SCHA63T_A_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW
+# PF11 SPARE_CS CS (using for WA6)
+PH5  AUXMEM_CS CS
+PI4  EXTERNAL1_CS1 CS
+PI10 EXTERNAL1_CS2 CS
+PI11 EXTERNAL1_CS3 CS
+PI6  EXTERNAL2_CS1 CS
+PI7  EXTERNAL2_CS2 CS
+PI8  EXTERNAL2_CS3 CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB100/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/hwdef.dat
new file mode 100644
index 0000000000..84a86224fa
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB100/hwdef.dat
@@ -0,0 +1,354 @@
+# hw definition file for processing by chibios_hwdef.py
+# for JAE JFB-100 hardware.(modifid based fmuv5)
+define AP_CUSTOM_FIRMWARE_STRING "(JFB100 V1.0.0)"
+
+# MCU class and specific type. It is a F765, which is the same as F767
+# but without the TFT interface
+MCU STM32F7xx STM32F767xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
+define HAL_CHIBIOS_ARCH_FMUV5 1
+
+# board ID for firmware load
+APJ_BOARD_ID 1084
+
+FLASH_RESERVE_START_KB 32
+
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 USART6 UART7 OTG2
+
+# default the 2nd interface to MAVLink2 until MissionPlanner updates drivers
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# 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
+
+# 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
+
+# SPI5 - external1 (disabled to save DMA channels)
+# PF7 SPI5_SCK SPI5
+# PF8 SPI5_MISO SPI5
+# PF9 SPI5_MOSI SPI5
+
+# SPI6 - external2 (disabled to save DMA channels)
+# PG13 SPI6_SCK SPI6
+# PG12 SPI6_MISO SPI6
+# PB5 SPI6_MOSI SPI6
+
+# sensor CS
+PF10 MS5611_CS CS
+PF2  SCHA63T_G_CS CS
+PF3  ICM20602_CS CS SPEED_VERYLOW
+PF4  SCHA63T_A_CS CS
+PF5  FRAM_CS CS SPEED_VERYLOW
+
+# unusued CS pins
+# PF11 SPARE_CS CS (using for WA6)
+PH5  AUXMEM_CS CS
+PI4  EXTERNAL1_CS1 CS
+PI10 EXTERNAL1_CS2 CS
+PI11 EXTERNAL1_CS3 CS
+PI6  EXTERNAL2_CS1 CS
+PI7  EXTERNAL2_CS2 CS
+PI8  EXTERNAL2_CS3 CS
+
+# I2C buses
+
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C1 I2C2 I2C4
+
+
+# enable pins
+PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# start peripheral power off, then enable after init
+# this prevents a problem with radios that use RTS for
+# bootloader hold
+PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH
+
+PG5  VDD_5V_RC_EN OUTPUT HIGH
+PG6  VDD_5V_WIFI_EN OUTPUT HIGH
+PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH
+
+# drdy pins
+# PE7  DRDY8_NC INPUT (using for WA5)
+PB4  DRDY1_ICM20689 INPUT
+PB14 DRDY2_SCHA63T_GYRO INPUT
+PB15 DRDY3_SCHA63T_ACC INPUT
+PC5  DRDY4_ICM20602 INPUT
+PC13 DRDY5_SCHA63T_GYRO INPUT
+PD10 DRDY6_SCHA63T_ACC INPUT
+PD15 DRDY7_EXTERNAL1 INPUT
+
+# Control of Spektrum power pin
+PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
+define HAL_GPIO_SPEKTRUM_PWR 73
+
+# Spektrum Power is Active High
+define HAL_SPEKTRUM_PWR_ENABLED 1
+
+# 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
+
+# USART3 is telem2
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
+
+# UART4 GPS2
+PD0 UART4_RX UART4 NODMA
+PD1 UART4_TX UART4 NODMA
+
+# USART6 is telem3
+PG9 USART6_RX USART6 NODMA
+# we leave PG14 as an input to prevent it acting as a pullup
+# on the IOMCU SBUS input
+PG14 USART6_TX USART6 NODMA
+# PG15 USART6_CTS USART6 (using for WA8)
+# PG8 USART6_RTS USART6 (using for WA7)
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# UART8 is for IOMCU
+# PE0 UART8_RX UART8 (using for PP3)
+# PE1 UART8_TX UART8 (using for PP5)
+
+# UART for IOMCU
+# IOMCU_UART UART8
+
+# RCInput on the PPM pin, for all protocols
+PI5 TIM8_CH1 TIM8 RCININT PULLUP LOW
+
+# 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)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+# we need to disable DMA on the last 2 FMU channels
+# as timer 12 doesn't have a TIMn_UP DMA option
+PH6  TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
+PH9  TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
+
+define BOARD_PWM_COUNT_DEFAULT 8
+
+# PWM output for buzzer
+PE5 TIM9_CH1 TIM9 GPIO(77) ALARM
+
+# analog in
+PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PA2 BATT2_VOLTAGE_SENS ADC1 SCALE(1)
+PA3 BATT2_CURRENT_SENS ADC1 SCALE(1)
+
+PC4 SPARE1_ADC1 ADC1 SCALE(1)
+PA4 SPARE2_ADC1 ADC1 SCALE(1)
+
+PB0 RSSI_IN ADC1 SCALE(1)
+
+PC3 HW_REV_SENS ADC1 SCALE(1)
+PC2 HW_VER_SENS ADC1 SCALE(1)
+
+PC0 VDD_5V_SENS ADC1 SCALE(2)
+PC1 SCALED_V3V3 ADC1 SCALE(2)
+
+# setup scaling defaults for PixHackV5 power brick
+# define HAL_BATT_VOLT_SCALE 18.0
+# define HAL_BATT_CURR_SCALE 24.0
+# setup for supplied power brick
+define HAL_BATT_VOLT_SCALE 18.182
+define HAL_BATT_CURR_SCALE 36.364
+define HAL_BATT_VOLT_PIN 0
+define HAL_BATT_CURR_PIN 1
+define HAL_BATT2_VOLT_PIN 2
+define HAL_BATT2_CURR_PIN 3
+
+# CAN bus
+PI9  CAN1_RX CAN1
+PH13 CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+PH2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+PH3 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+PH4 GPIO_CAN3_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(72)
+
+# GPIOs
+PA7 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+
+PG1 VDD_BRICK_nVALID INPUT PULLUP
+PG2 VDD_BRICK2_nVALID INPUT PULLUP
+PG3 VBUS_nVALID INPUT PULLUP
+PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
+PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
+# PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH (using for WA4)
+
+# capture pins
+PA5 FMU_CAP1 INPUT  GPIO(58)
+PB3 FMU_CAP2 INPUT  GPIO(59)
+PB11 FMU_CAP3 INPUT GPIO(60)
+PI0 FMU_SPARE_4 INPUT GPIO(61)
+
+# SPI devices
+SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
+SPIDEV scha63t_g      SPI1 DEVID1  SCHA63T_G_CS MODE0 10*MHZ 10*MHZ
+SPIDEV scha63t_a      SPI1 DEVID2  SCHA63T_A_CS MODE0 10*MHZ 10*MHZ
+SPIDEV icm20602       SPI1 DEVID3  ICM20602_CS  MODE3  2*MHZ  8*MHZ
+SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 
+
+# up to 3 IMUs
+IMU SCHA63T SPI:scha63t_a SPI:scha63t_g ROTATION_NONE
+IMU Invensense SPI:icm20602 ROTATION_PITCH_180_YAW_270
+
+# 3rd could be BMMI055 or BMI088
+# IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
+# IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# probe external I2C compasses plus some internal IST8310
+# we also probe some external IST8310 with a non-standard orientation
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
+COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270
+
+# one baro
+BARO MS56XX SPI:ms5611
+
+# microSD support
+PC8 SDMMC_D0 SDMMC1
+PC9 SDMMC_D1 SDMMC1
+PC10 SDMMC_D2 SDMMC1
+PC11 SDMMC_D3 SDMMC1
+PC12 SDMMC_CK SDMMC1
+PD2 SDMMC_CMD SDMMC1
+
+# red LED marked as B/E
+# PB1 LED_RED OUTPUT OPENDRAIN GPIO(90) (swap)
+
+# green LED marked as PWR. We leave this solid on, but allow
+# for it to be controlled as a relay if needed
+PC6 LED_GREEN OUTPUT GPIO(91) LOW
+
+# blue LED marked as ACT
+# PC7 LED_BLUE OUTPUT GPIO(92) HIGH (swap)
+
+# setup for BoardLED2
+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
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+DMA_PRIORITY SDMMC* UART8* ADC* SPI* TIM*
+
+# define HAL_SPI_CHECK_CLOCK_FREQ 1
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# uncomment block below to enable a 2nd MS5611 baro on SPI5
+#PF7 SPI5_SCK SPI5
+#PF8 SPI5_MISO SPI5
+#PF9 SPI5_MOSI SPI5
+#SPIDEV ms5611_spi5    SPI5 DEVID1  EXTERNAL1_CS1 MODE3 20*MHZ 20*MHZ
+#undef PI10
+#PI10 EXTERNAL1_CS2 OUTPUT LOW
+#BARO MS56XX SPI:ms5611_spi5
+
+# imu sensor SCHA63T reset
+PH12 SCHA63T_RESET OUTPUT LOW
+
+# PWM wraparound 1-8
+PA8 WA1 INPUT PULLUP
+PA15 WA2 INPUT PULLUP
+PB2 WA3 INPUT PULLUP
+PB10 WA4 INPUT PULLUP
+PE7 WA5 INPUT PULLUP
+PF11 WA6 INPUT PULLUP
+PG8 WA7 INPUT PULLUP
+PG15 WA8 INPUT PULLUP
+
+# now we define the pins that USB is connected on
+PA9 VBAS INPUT PULLDOWN
+
+# External watchdog timer clear
+PH11 WDI_OUT OUTPUT SPEED_VERYLOW
+define WDI_OUT_INTERVAL_TIME_MS 100
+
+# safety switch
+PE10 SAFETY_IN INPUT PULLUP
+
+# red and blue LEDs swapped vs fmuv5
+# red LED marked as B/E
+PB1 LED_RED OUTPUT OPENDRAIN GPIO(92)
+# blue LED marked as ACT
+PC7 LED_BLUE OUTPUT GPIO(90) HIGH