diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/README.md b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/README.md
new file mode 100644
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+# VUAV-V7pro Flight Controller
+
+The VUAV-V7pro flight controller is manufactured and sold by [VIEWPRO](http://www.viewprotech.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - Three IMUs: ADIS16470,ICM42688,ICM42688
+ - Internal vibration isolation for IMUs
+ - Internal RM3100 SPI magnetometer
+ - Internal two MS5611 SPI barometer
+ - Internal RGB LED
+ - MicroSD card slot port
+ - 1 Analog power port
+ - 1 CAN power port
+ - 5 UARTs and 1 USB ports
+ - 1 RS232 port
+ - 14 PWM output ports
+ - 4 I2C and 2 CAN ports
+ - Safety switch port
+ - Buzzer port
+ - RC IN port
+
+## Pinout
+
+
+
+
+
+## UART Mapping
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART2 (Telem1) (DMA enabled)
+ - SERIAL2 -> UART6 (Telem2) (DMA enabled)
+ - SERIAL3 -> UART1 (GPS1)
+ - SERIAL4 -> UART3 (GPS2)
+ - SERIAL5 -> UART8 (USER) TX only on pin, RX is tied to RCIN
+ - SERIAL6 -> UART4 (RS232)
+ - SERIAL7 -> USB2 (virtual port on same connector)
+ - SERIAL8 -> UART7 (DEBUG)
+
+The Telem1,Telem2 port has RTS/CTS pins, the other UARTs do not have RTS/CTS.
+
+## Connectors
+
+### TELEM1 ,TELEM2 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 |
+ CTS |
+ +3.3V |
+
+
+ | 5 |
+ RTS |
+ +3.3V |
+
+
+ | 6 |
+ GND |
+ GND |
+
+
+
+
+### GPS1/I2C4 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 |
+ SCL I2C4 |
+ +3.3V (pullups) |
+
+
+ | 5 |
+ SDA I2C4 |
+ +3.3V (pullups) |
+
+
+ | 6 |
+ SafetyButton |
+ +3.3V |
+
+
+ | 7 |
+ SafetyLED |
+ +3.3V |
+
+
+ | 8 |
+ - |
+ - |
+
+
+ | 9 |
+ Buzzer |
+ +3.3V |
+
+
+ | 10 |
+ GND |
+ GND |
+
+
+
+
+### GPS2/I2C3 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 |
+ SCL I2C3 |
+ +3.3V (pullups) |
+
+
+ | 5 |
+ SDA I2C3 |
+ +3.3V (pullups) |
+
+
+ | 6 |
+ GND |
+ GND |
+
+
+
+
+### CAN1,CAN2 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ CAN_H |
+ +24V |
+
+
+ | 3 |
+ CAN_L |
+ +24V |
+
+
+ | 4 |
+ GND |
+ GND |
+
+
+
+
+### I2C1,I2C2 port
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ SCL |
+ +3.3 (pullups) |
+
+
+ | 3 |
+ SDA |
+ +3.3 (pullups) |
+
+
+ | 4 |
+ GND |
+ GND |
+
+
+
+
+### USB Ex
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC IN |
+ +5V |
+
+
+ | 2 |
+ D_minus |
+ +3.3V |
+
+
+ | 3 |
+ D_plus |
+ +3.3V |
+
+
+ | 4 |
+ GND |
+ GND |
+
+
+
+
+### RSSI
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ RSSI |
+ up to +3.3V |
+
+
+ | 3 |
+ UART8_TX (OUT) |
+ +3.3 |
+
+
+ | 4 |
+ GND |
+ GND |
+
+
+
+
+### RS232
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 |
+ GND |
+ GND |
+
+
+
+
+### DEBUG
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ TX (OUT) |
+ +3.3V |
+
+
+ | 3 |
+ RX (IN) |
+ +3.3V |
+
+
+ | 4 |
+ SWDIO |
+ +3.3V |
+
+
+ | 5 |
+ SWCLK |
+ +3.3V |
+
+
+ | 6 |
+ GND |
+ GND |
+
+
+
+
+### ADC
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC |
+ +5V |
+
+
+ | 2 |
+ ADC_3V3 |
+ up to +3.3V |
+
+
+ | 3 |
+ ADC_6V6 |
+ up to +6.6V |
+
+
+ | 4 |
+ GND |
+ GND |
+
+
+
+
+### POWER1
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC IN |
+ +5V |
+
+
+ | 2 |
+ VCC IN |
+ +5V |
+
+
+ | 3 |
+ CURRENT |
+ up to +3.3V |
+
+
+ | 4 |
+ VOLTAGE |
+ up to +3.3V |
+
+ 5 |
+ GND |
+ GND |
+
+ 6 |
+ GND |
+ GND |
+
+
+
+
+### POWER2(CAN1)
+
+
+
+
+ | Pin |
+ Signal |
+ Volt |
+
+
+ | 1 |
+ VCC IN |
+ +5V |
+
+
+ | 2 |
+ VCC IN |
+ +5V |
+
+
+ | 3 |
+ CAN1_H |
+ +24V |
+
+
+ | 4 |
+ CAN1_L |
+ +24V |
+
+ 5 |
+ GND |
+ GND |
+
+ 6 |
+ GND |
+ GND |
+
+
+
+
+## RC Input
+
+RC input is configured on the RCIN pin, at one end of the servo rail. This pin supports all unidirectional RC protocols. For bi-directional protocols, such as CRSF/ELRS, UART8 can be set to protocol "23" and the reciever tied to RCIN (shared with UART8 RX) and UART8 TX. In this case, the RC_PROTOCOLS parameter should be set to the expected protocol type to avoid accidental erroneous detection by the RCIN path.
+
+## PWM Output
+
+The VUAV-V7pro supports up to 14 PWM outputs,support all PWM protocols. Outputs 1-12 support DShot. Outputs 1-8 support bi-directional Dshot. All 14 PWM outputs have GND on the top row, 5V on the middle row and signal on the bottom row.
+
+The 14 PWM outputs are in 4 groups:
+
+ - PWM 1, 2, 3 and 4 in group1
+ - PWM 5, 6, 7 and 8 in group2
+ - PWM 9, 10, 11 and 12 in group3
+ - PWM 13, 14 in group4
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
+
+## GPIOs
+
+All 14 PWM channels can be used for GPIO functions (relays, buttons, RPM etc).
+The pin numbers for these PWM channels in ArduPilot are shown below:
+
+
+
+
+ | PWM Channels |
+ Pin |
+ PWM Channels |
+ Pin |
+
+
+ | PWM1 |
+ 50 |
+ PWM8 |
+ 57 |
+
+
+ | PWM2 |
+ 51 |
+ PWM9 |
+ 58 |
+
+
+ | PWM3 |
+ 52 |
+ PWM10 |
+ 59 |
+
+
+ | PWM4 |
+ 53 |
+ PWM11 |
+ 60 |
+
+
+ | PWM5 |
+ 54 |
+ PWM12 |
+ 61 |
+
+
+ | PWM6 |
+ 55 |
+ PWM13 |
+ 62 |
+
+
+ | PWM7 |
+ 56 |
+ PWM14 |
+ 63 |
+
+
+
+
+## Analog inputs
+
+The VUAV-V7pro flight controller has 5 Analog inputs
+
+ - ADC Pin2-> Battery Current
+ - ADC Pin16 -> Battery Voltage
+ - ADC Pin19 -> ADC 3V3 Sense
+ - ADC Pin3 -> ADC 6V6 Sense
+ - ADC Pin9 -> RSSI voltage monitoring
+
+## Battery Monitor Configuration
+
+The board has voltage and current inputs sensor on the POWER1 ADC and POWER2 CAN connector.
+
+The correct battery setting parameters are:
+
+Enable Battery1 monitor:
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 16
+ - BATT_CUR_PIN 2
+ - BATT_VOLT_MULT 15.7 (may need adjustment if supplied monitor is not used)
+ - BATT_AMP_PERVLT 60.61 (may need adjustment if supplied monitor is not used)
+
+Enable Battery2 monitor (if used):
+ - BATT2_MONITOR 8
+
+## Loading Firmware
+
+The VUAV-V7pro flight controller 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/VUAV-V7pro/VUAV-V7pro-interface.png b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/VUAV-V7pro-interface.png
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/VUAV-V7pro-pinout.png b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/VUAV-V7pro-pinout.png
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/defaults.parm
new file mode 100644
index 0000000000..181f066cec
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+++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/defaults.parm
@@ -0,0 +1,5 @@
+BRD_HEAT_TARG 45
+BRD_HEAT_P 50
+BRD_HEAT_I 0.07
+
+CAN_P1_DRIVER 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/hwdef-bl.dat
new file mode 100644
index 0000000000..0d6e8bb913
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/hwdef-bl.dat
@@ -0,0 +1,79 @@
+# 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 7100
+
+# 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
+
+PI5 LED_RED OUTPUT OPENDRAIN HIGH # red
+PI7 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+PI6 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green
+define HAL_LED_ON 0
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PF7 UART7_TX UART7 NODMA
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+define BOOTLOADER_DEBUG SD7
+
+# support flashing from SD card:
+# power enable pins
+PG7 VDD_3V3_SD_CARD_EN OUTPUT LOW
+
+# FATFS support:
+define CH_CFG_USE_MEMCORE 1
+define CH_CFG_USE_HEAP 1
+define CH_CFG_USE_SEMAPHORES 0
+define CH_CFG_USE_MUTEXES 1
+define CH_CFG_USE_DYNAMIC 1
+define CH_CFG_USE_WAITEXIT 1
+define CH_CFG_USE_REGISTRY 1
+
+# 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
+
+define FATFS_HAL_DEVICE SDCD1
+
+DMA_PRIORITY SDMMC*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
+
+# Add CS pins to ensure they are high in bootloader
+PG10 IMU1_CS CS
+PJ2 IMU2_CS CS
+PI4 IMU3_CS CS
+PE8 RM3100_CS CS
+PE4 BAROMETER1_CS CS
+PI9 BAROMETER2_CS CS
+PK2 FRAM_CS CS
+PE10 RESERVE_CS1 CS
+PI14 RESERVE_CS2 CS
+PI15 RESERVE_CS3 CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/hwdef.dat
new file mode 100644
index 0000000000..4fa315f3e8
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/VUAV-V7pro/hwdef.dat
@@ -0,0 +1,286 @@
+# hw definition file for processing by chibios_hwdef.py
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 7100
+
+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
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART6 USART1 USART3 UART8 UART4 OTG2 UART7
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# UARTs
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART6 is telem2
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+PG15 USART6_CTS USART6
+PG8 USART6_RTS USART6
+
+# USART1 is GPS1
+PB15 USART1_RX USART1 NODMA
+PB14 USART1_TX USART1 NODMA
+
+# UART3 is GPS2
+PD9 USART3_RX USART3 NODMA
+PD8 USART3_TX USART3 NODMA
+
+# SBUS, DSM port
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# RS232
+PH14 UART4_RX UART4 NODMA
+PH13 UART4_TX UART4 NODMA
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PF7 UART7_TX UART7 NODMA
+
+# debug pins
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 - sensors1
+PG11 SPI1_SCK SPI1
+PG9 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+
+# SPI2 - compass
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+
+# SPI4 - sensors2 - baro1
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# SPI6 - sensors3 - baro2
+PG13 SPI6_SCK SPI6
+PB4 SPI6_MISO SPI6
+PG14 SPI6_MOSI SPI6
+
+# SPI5 - FRAM
+PK0 SPI5_SCK SPI5
+PJ11 SPI5_MISO SPI5
+PJ10 SPI5_MOSI SPI5
+
+# sensor CS
+PG10 IMU1_CS CS
+PJ2 IMU2_CS CS
+PI4 IMU3_CS CS
+PE8 RM3100_CS CS
+PE4 BAROMETER1_CS CS
+PI9 BAROMETER2_CS CS
+PK2 FRAM_CS CS
+
+# RESERVE CS
+PE10 RESERVE_CS1 CS
+PI14 RESERVE_CS2 CS
+PI15 RESERVE_CS3 CS
+
+# drdy pins
+PH4 DRDY1_ADIS16470 INPUT GPIO(93)
+PH10 DRDY2_ICM42688 INPUT
+PE9 DRDY3_RM3100 INPUT
+PH5 DRDY4_ICM42688 INPUT
+
+# use GPIO(93) for data ready on ADIS16470
+define ADIS_DRDY_PIN 93
+
+# I2C buses
+
+# I2C1 is on I2C1 port
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# I2C2 on I2C2 port
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C3 is on GPS2 port
+PH7 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4 is on GPS1 port
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C1 I2C2 I2C3 I2C4
+
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+define HAL_I2C_INTERNAL_MASK 0
+
+# enable pins
+PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# start peripheral power off, then enable after init
+# this prevents a problem with radios that use RTS for
+# bootloader hold
+PD11 VDD_5V_HIPOWER_EN OUTPUT LOW
+PG4 VDD_5V_PERIPH_EN OUTPUT LOW
+
+PD10 VDD_5V_RC_EN OUTPUT HIGH
+PG7 VDD_3V3_SD_CARD_EN OUTPUT LOW
+
+# PWM AUX channels
+PA15 TIM2_CH1 TIM2 PWM(1) GPIO(50) BIDIR
+PB3 TIM2_CH2 TIM2 PWM(2) GPIO(51)
+PB10 TIM2_CH3 TIM2 PWM(3) GPIO(52) BIDIR
+PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
+PK1 TIM1_CH1 TIM1 PWM(5) GPIO(54) BIDIR
+PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
+PJ9 TIM1_CH3 TIM1 PWM(7) GPIO(56) BIDIR
+PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
+PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
+PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59)
+PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60)
+PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61)
+PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
+PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
+
+# PWM output for buzzer
+PE5 TIM15_CH1 TIM15 GPIO(77) ALARM
+
+# RC input
+PB1 TIM3_CH4 TIM3 RCININT PULLDOWN LOW
+
+# analog in
+PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PF11 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+PA5 SPARE1_ADC1 ADC1 SCALE(1)
+PA6 SPARE2_ADC1 ADC1 SCALE(2)
+
+PB0 RSSI_IN ADC1 SCALE(1)
+
+PC0 VDD_5V_SENS ADC1 SCALE(2)
+PC2 SCALED_V3V3 ADC1 SCALE(2)
+
+PF12 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(3)
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+PB5 CAN2_RX CAN2
+PB6 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)
+
+# GPIOs
+PA8 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+
+PG1 VDD_BRICK_nVALID INPUT PULLUP
+PG2 VDD_BRICK2_nVALID INPUT PULLUP
+PG0 VBUS_nVALID INPUT PULLUP
+PJ3 VDD_5V_HIPOWER_nOC INPUT PULLUP
+PJ4 VDD_5V_PERIPH_nOC INPUT PULLUP
+
+# SPI devices
+SPIDEV adis16470 SPI1 DEVID1 IMU1_CS MODE3 1*MHZ 2*MHZ
+SPIDEV imu1_res SPI1 DEVID2 RESERVE_CS1 MODE3 2*MHZ 8*MHZ
+SPIDEV rm3100 SPI2 DEVID1 RM3100_CS MODE3 1*MHZ 1*MHZ
+SPIDEV imu2 SPI4 DEVID1 IMU2_CS MODE3 2*MHZ 8*MHZ
+SPIDEV baro1 SPI4 DEVID2 BAROMETER1_CS MODE3 20*MHZ 20*MHZ
+SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
+SPIDEV imu3 SPI6 DEVID1 IMU3_CS MODE3 2*MHZ 8*MHZ
+SPIDEV baro2 SPI6 DEVID2 BAROMETER2_CS MODE3 20*MHZ 20*MHZ
+
+# two baro
+BARO MS56XX SPI:baro1
+BARO MS56XX SPI:baro2
+
+# three IMUs
+IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN
+IMU Invensensev3 SPI:imu1_res ROTATION_PITCH_180_YAW_270
+IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_270
+IMU Invensensev3 SPI:imu3 ROTATION_PITCH_180
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# compasses
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
+
+# 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 marked as B/E
+PI5 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PI6 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
+PI7 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+
+# setup for "pixracer" RGB LEDs
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# use pixracer style 3-LED indicators
+define HAL_HAVE_PIXRACER_LED
+
+# 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
+PE2 LED_SAFETY OUTPUT
+PI13 SAFETY_IN INPUT PULLDOWN
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN False
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+DMA_PRIORITY ADC* SPI1* TIM*UP*
+DMA_NOSHARE SPI1* TIM*UP*
+
+# Enable Sagetech MXS ADSB transponder
+define HAL_ADSB_SAGETECH_MXS_ENABLED HAL_ADSB_ENABLED
+
+# define default battery setup
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_CURR_PIN 2
+define HAL_BATT_VOLT_PIN 16
+define HAL_BATT_CURR_SCALE 60.61
+define HAL_BATT_VOLT_SCALE 15.7
+
+# setup the parameter for the ADC rssi
+define BOARD_RSSI_ANA_PIN 9