diff --git a/libraries/AP_HAL_ChibiOS/hwdef/STM32CubeConf/G431-24MHz/G431-24MHz.ioc b/libraries/AP_HAL_ChibiOS/hwdef/STM32CubeConf/G431-24MHz/G431-24MHz.ioc
new file mode 100644
index 0000000000..3e8e7b9798
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/STM32CubeConf/G431-24MHz/G431-24MHz.ioc
@@ -0,0 +1,166 @@
+#MicroXplorer Configuration settings - do not modify
+Mcu.Family=STM32G4
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+ProjectManager.MainLocation=Core/Src
+RCC.I2SFreq_Value=168000000
+PA6.Mode=Full_Duplex_Master
+RCC.USART1Freq_Value=168000000
+RCC.PLLQoutputFreq_Value=42000000
+ProjectManager.ProjectFileName=G431-24MHz.ioc
+RCC.SAI1Freq_Value=168000000
+USART2.IPParameters=VirtualMode-Asynchronous
+RCC.CortexFreq_Value=168000000
+PA7.Mode=Full_Duplex_Master
+ProjectManager.KeepUserCode=true
+Mcu.UserName=STM32G431VBTx
+Mcu.PinsNb=15
+SPI1.VirtualType=VM_MASTER
+ProjectManager.NoMain=false
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
+ProjectManager.functionlistsort=
+PC4.Signal=USART1_TX
+PA11.Mode=FDCAN_Activate
+RCC.EXTERNAL_CLOCK_VALUE=12288000
+ProjectManager.DefaultFWLocation=true
+RCC.USART2Freq_Value=168000000
+ProjectManager.DeletePrevious=true
+PC5.Mode=Asynchronous
+USART1.IPParameters=VirtualMode-Asynchronous
+PinOutPanel.RotationAngle=0
+RCC.FamilyName=M
+RCC.MCO1PinFreq_Value=16000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+ProjectManager.StackSize=0x400
+RCC.I2C3Freq_Value=168000000
+RCC.LPTIM1Freq_Value=168000000
+USART1.VirtualMode-Asynchronous=VM_ASYNC
+PA13.Signal=I2C1_SCL
+PA3.Mode=Asynchronous
+Mcu.IP4=SPI1
+RCC.FCLKCortexFreq_Value=168000000
+Mcu.IP5=SYS
+I2C1.IPParameters=Timing
+Mcu.IP2=NVIC
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+Mcu.IP3=RCC
+Mcu.IP0=FDCAN1
+Mcu.IP1=I2C1
+PA12.Signal=FDCAN1_TX
+Mcu.UserConstants=
+ProjectManager.TargetToolchain=EWARM V8.32
+Mcu.ThirdPartyNb=0
+SPI1.Direction=SPI_DIRECTION_2LINES
+RCC.HCLKFreq_Value=168000000
+Mcu.IPNb=8
+ProjectManager.PreviousToolchain=
+RCC.APB2TimFreq_Value=168000000
+I2C1.Timing=0x60505F8C
+SPI1.CalculateBaudRate=84.0 MBits/s
+Mcu.Pin6=PA7
+Mcu.Pin7=PC4
+ProjectManager.RegisterCallBack=
+Mcu.Pin8=PC5
+RCC.USBFreq_Value=42000000
+Mcu.Pin9=PA11
+RCC.LSE_VALUE=32768
+RCC.AHBFreq_Value=168000000
+Mcu.Pin0=PF0-OSC_IN
+PF0-OSC_IN.Mode=HSE-External-Oscillator
+Mcu.Pin1=PF1-OSC_OUT
+GPIO.groupedBy=
+Mcu.Pin2=PA2
+Mcu.Pin3=PA3
+RCC.USART3Freq_Value=168000000
+Mcu.Pin4=PA5
+Mcu.Pin5=PA6
+PA5.Signal=SPI1_SCK
+ProjectManager.ProjectBuild=false
+RCC.HSE_VALUE=24000000
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+board=custom
+USART2.VirtualMode-Asynchronous=VM_ASYNC
+RCC.VCOOutputFreq_Value=336000000
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+RCC.ADC12Freq_Value=168000000
+ProjectManager.LastFirmware=true
+ProjectManager.FirmwarePackage=STM32Cube FW_G4 V1.3.0
+MxDb.Version=DB.6.0.10
+RCC.APB2Freq_Value=168000000
+RCC.UART4Freq_Value=168000000
+ProjectManager.BackupPrevious=false
+MxCube.Version=6.1.1
+RCC.VCOInputFreq_Value=8000000
+RCC.I2C1Freq_Value=168000000
+SPI1.Mode=SPI_MODE_MASTER
+VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
+PA14.Mode=I2C
+RCC.FDCANFreq_Value=168000000
+RCC.RNGFreq_Value=42000000
+File.Version=6
+VP_SYS_VS_Systick.Mode=SysTick
+VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+RCC.PLLRCLKFreq_Value=168000000
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+PA13.Mode=I2C
+ProjectManager.FreePins=false
+RCC.IPParameters=ADC12Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLM,PLLN,PLLPoutputFreq_Value,PLLQ,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PLLSourceVirtual,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,UART4Freq_Value,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
+ProjectManager.AskForMigrate=true
+Mcu.Name=STM32G431V(6-8-B)Tx
+ProjectManager.HalAssertFull=false
+PA2.Signal=USART2_TX
+RCC.CRSFreq_Value=48000000
+ProjectManager.ProjectName=G431-24MHz
+ProjectManager.UnderRoot=false
+Mcu.IP6=USART1
+Mcu.IP7=USART2
+ProjectManager.CoupleFile=false
+RCC.SYSCLKFreq_VALUE=168000000
+Mcu.Package=LQFP100
+PA6.Signal=SPI1_MISO
+PA12.Mode=FDCAN_Activate
+NVIC.ForceEnableDMAVector=true
+KeepUserPlacement=false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+ProjectManager.CompilerOptimize=6
+ProjectManager.ToolChainLocation=
+RCC.LSI_VALUE=32000
+VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+PA11.Signal=FDCAN1_RX
+RCC.LSCOPinFreq_Value=32000
+PA14.Signal=I2C1_SDA
+ProjectManager.HeapSize=0x200
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin14=VP_SYS_VS_DBSignals
+ProjectManager.ComputerToolchain=false
+RCC.HSI_VALUE=16000000
+RCC.PLLQ=RCC_PLLQ_DIV8
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+Mcu.Pin11=PA13
+Mcu.Pin12=PA14
+RCC.PLLM=RCC_PLLM_DIV3
+RCC.PLLPoutputFreq_Value=168000000
+RCC.PLLN=42
+Mcu.Pin10=PA12
+RCC.APB1TimFreq_Value=168000000
+PA2.Mode=Asynchronous
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+RCC.PWRFreq_Value=168000000
+RCC.LPUART1Freq_Value=168000000
+PC5.Signal=USART1_RX
+PF0-OSC_IN.Signal=RCC_OSC_IN
+PF1-OSC_OUT.Mode=HSE-External-Oscillator
+RCC.I2C2Freq_Value=168000000
+RCC.APB1Freq_Value=168000000
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DeviceId=STM32G431VBTx
+PF1-OSC_OUT.Signal=RCC_OSC_OUT
+ProjectManager.LibraryCopy=0
+PC4.Mode=Asynchronous
+RCC.HSI48_VALUE=48000000
+PA3.Signal=USART2_RX
+PA5.Mode=Full_Duplex_Master
+PA7.Signal=SPI1_MOSI
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/STM32CubeConf/G441-24MHz/G441-24MHz.ioc b/libraries/AP_HAL_ChibiOS/hwdef/STM32CubeConf/G441-24MHz/G441-24MHz.ioc
new file mode 100644
index 0000000000..a396dd2edb
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/STM32CubeConf/G441-24MHz/G441-24MHz.ioc
@@ -0,0 +1,166 @@
+#MicroXplorer Configuration settings - do not modify
+Mcu.Family=STM32G4
+RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
+ProjectManager.MainLocation=Core/Src
+RCC.I2SFreq_Value=168000000
+PA6.Mode=Full_Duplex_Master
+RCC.USART1Freq_Value=168000000
+RCC.PLLQoutputFreq_Value=42000000
+ProjectManager.ProjectFileName=G441-24MHz.ioc
+RCC.SAI1Freq_Value=168000000
+USART2.IPParameters=VirtualMode-Asynchronous
+RCC.CortexFreq_Value=168000000
+PA7.Mode=Full_Duplex_Master
+ProjectManager.KeepUserCode=true
+Mcu.UserName=STM32G441VBTx
+Mcu.PinsNb=15
+SPI1.VirtualType=VM_MASTER
+ProjectManager.NoMain=false
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
+ProjectManager.functionlistsort=
+PA11.Mode=FDCAN_Activate
+RCC.EXTERNAL_CLOCK_VALUE=12288000
+ProjectManager.DefaultFWLocation=true
+RCC.USART2Freq_Value=168000000
+ProjectManager.DeletePrevious=true
+PC5.Mode=Asynchronous
+USART1.IPParameters=VirtualMode-Asynchronous
+PinOutPanel.RotationAngle=0
+RCC.FamilyName=M
+RCC.MCO1PinFreq_Value=16000000
+RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
+ProjectManager.StackSize=0x400
+RCC.LPTIM1Freq_Value=168000000
+RCC.I2C3Freq_Value=168000000
+USART1.VirtualMode-Asynchronous=VM_ASYNC
+PA13.Signal=I2C1_SCL
+PA3.Mode=Asynchronous
+Mcu.IP4=SPI1
+RCC.FCLKCortexFreq_Value=168000000
+Mcu.IP5=SYS
+I2C1.IPParameters=Timing
+Mcu.IP2=NVIC
+NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+Mcu.IP3=RCC
+Mcu.IP0=FDCAN1
+PA9.Mode=Asynchronous
+Mcu.IP1=I2C1
+PA12.Signal=FDCAN1_TX
+Mcu.UserConstants=
+ProjectManager.TargetToolchain=EWARM V8.32
+Mcu.ThirdPartyNb=0
+SPI1.Direction=SPI_DIRECTION_2LINES
+RCC.HCLKFreq_Value=168000000
+Mcu.IPNb=8
+ProjectManager.PreviousToolchain=
+RCC.APB2TimFreq_Value=168000000
+PA9.Signal=USART1_TX
+I2C1.Timing=0x60505F8C
+SPI1.CalculateBaudRate=84.0 MBits/s
+Mcu.Pin6=PA7
+Mcu.Pin7=PC5
+ProjectManager.RegisterCallBack=
+Mcu.Pin8=PA9
+RCC.USBFreq_Value=42000000
+Mcu.Pin9=PA11
+RCC.LSE_VALUE=32768
+RCC.AHBFreq_Value=168000000
+Mcu.Pin0=PF0-OSC_IN
+PF0-OSC_IN.Mode=HSE-External-Oscillator
+Mcu.Pin1=PF1-OSC_OUT
+GPIO.groupedBy=
+Mcu.Pin2=PA2
+Mcu.Pin3=PA3
+RCC.USART3Freq_Value=168000000
+Mcu.Pin4=PA5
+Mcu.Pin5=PA6
+PA5.Signal=SPI1_SCK
+ProjectManager.ProjectBuild=false
+RCC.HSE_VALUE=24000000
+NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+board=custom
+USART2.VirtualMode-Asynchronous=VM_ASYNC
+RCC.VCOOutputFreq_Value=336000000
+NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+RCC.ADC12Freq_Value=168000000
+ProjectManager.LastFirmware=true
+ProjectManager.FirmwarePackage=STM32Cube FW_G4 V1.3.0
+MxDb.Version=DB.6.0.10
+RCC.APB2Freq_Value=168000000
+RCC.UART4Freq_Value=168000000
+ProjectManager.BackupPrevious=false
+MxCube.Version=6.1.1
+RCC.VCOInputFreq_Value=8000000
+RCC.I2C1Freq_Value=168000000
+SPI1.Mode=SPI_MODE_MASTER
+VP_SYS_VS_DBSignals.Signal=SYS_VS_DBSignals
+PA14.Mode=I2C
+RCC.FDCANFreq_Value=168000000
+RCC.RNGFreq_Value=42000000
+File.Version=6
+VP_SYS_VS_Systick.Mode=SysTick
+VP_SYS_VS_DBSignals.Mode=DisableDeadBatterySignals
+NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+RCC.PLLRCLKFreq_Value=168000000
+NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+PA13.Mode=I2C
+ProjectManager.FreePins=false
+RCC.IPParameters=ADC12Freq_Value,AHBFreq_Value,APB1Freq_Value,APB1TimFreq_Value,APB2Freq_Value,APB2TimFreq_Value,CRSFreq_Value,CortexFreq_Value,EXTERNAL_CLOCK_VALUE,FCLKCortexFreq_Value,FDCANFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI48_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2SFreq_Value,LPTIM1Freq_Value,LPUART1Freq_Value,LSCOPinFreq_Value,LSE_VALUE,LSI_VALUE,MCO1PinFreq_Value,PLLM,PLLN,PLLPoutputFreq_Value,PLLQ,PLLQoutputFreq_Value,PLLRCLKFreq_Value,PLLSourceVirtual,PWRFreq_Value,RNGFreq_Value,SAI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,UART4Freq_Value,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USBFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value
+ProjectManager.AskForMigrate=true
+Mcu.Name=STM32G441VBTx
+ProjectManager.HalAssertFull=false
+PA2.Signal=USART2_TX
+RCC.CRSFreq_Value=48000000
+ProjectManager.ProjectName=G441-24MHz
+ProjectManager.UnderRoot=false
+Mcu.IP6=USART1
+Mcu.IP7=USART2
+ProjectManager.CoupleFile=false
+RCC.SYSCLKFreq_VALUE=168000000
+Mcu.Package=LQFP100
+PA6.Signal=SPI1_MISO
+PA12.Mode=FDCAN_Activate
+NVIC.ForceEnableDMAVector=true
+KeepUserPlacement=false
+NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+ProjectManager.CompilerOptimize=6
+ProjectManager.ToolChainLocation=
+RCC.LSI_VALUE=32000
+VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+PA11.Signal=FDCAN1_RX
+RCC.LSCOPinFreq_Value=32000
+PA14.Signal=I2C1_SDA
+ProjectManager.HeapSize=0x200
+NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+Mcu.Pin13=VP_SYS_VS_Systick
+Mcu.Pin14=VP_SYS_VS_DBSignals
+ProjectManager.ComputerToolchain=false
+RCC.HSI_VALUE=16000000
+RCC.PLLQ=RCC_PLLQ_DIV8
+NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
+Mcu.Pin11=PA13
+Mcu.Pin12=PA14
+RCC.PLLM=RCC_PLLM_DIV3
+RCC.PLLPoutputFreq_Value=168000000
+RCC.PLLN=42
+Mcu.Pin10=PA12
+RCC.APB1TimFreq_Value=168000000
+PA2.Mode=Asynchronous
+NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+RCC.PWRFreq_Value=168000000
+RCC.LPUART1Freq_Value=168000000
+PC5.Signal=USART1_RX
+PF0-OSC_IN.Signal=RCC_OSC_IN
+PF1-OSC_OUT.Mode=HSE-External-Oscillator
+RCC.I2C2Freq_Value=168000000
+RCC.APB1Freq_Value=168000000
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_2
+ProjectManager.CustomerFirmwarePackage=
+ProjectManager.DeviceId=STM32G441VBTx
+PF1-OSC_OUT.Signal=RCC_OSC_OUT
+ProjectManager.LibraryCopy=0
+RCC.HSI48_VALUE=48000000
+PA3.Signal=USART2_RX
+PA5.Mode=Full_Duplex_Master
+PA7.Signal=SPI1_MOSI