diff --git a/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md
new file mode 100644
index 0000000000..8e91038854
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md
@@ -0,0 +1,50 @@
+## QioTekZealotF427 Flight Controller
+
+The QioTek Zealot F427 flight controller is sold by a range of resellers listed on the QIOTEK(http://www.Qio-Tek.com)
+
+## Features
+•	STM32F427VIT6 microcontroller
+
+•	Three IMUs, one ICM20689(SPI), one ICM20608(SPI), one BMI055(SPI)
+
+•	internal heater for IMUs temperature control
+
+•	internal Soft Rubber Damping Ball isolation for All interna IMUs
+
+•	Two barometers, one DPS310(SPI), one MS5611(interna I2C)
+
+•	builtin SPI IST8310 magnetometer(interna I2C)
+
+•	builtin analog OSD(SPI)
+
+•	builtin RAMTRON(SPI)
+
+•	microSD card slot
+
+•	5 UARTs plus USB(Type-C)
+
+•	PPM & S.Bus input
+
+•	14 PWM outputs
+
+•	4 Relay outputs
+
+•	one I2C and one CAN ports
+
+•	one S.Bus output(inverter Share Serial5)
+
+•	External Buzzer
+
+•	builtin RGB LED
+
+•	two voltage & current monitoring and servo rail voltage monitoring（support to 36V)）
+
+•	two ADC inputs(default one for RSSI, one for Airspeed sensor, both support to 6.6V)
+
+•	servo rail BEC independent power input for servos
+
+•	builtin BEC（6S 1.5A）power input（share power2 module voltage monitoring）
+ 
+•	external safety Switch
+
+•	external USB connectors (Type-C USB and JST GH1.25)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef-bl.dat
new file mode 100644
index 0000000000..4e161bcd6b
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef-bl.dat
@@ -0,0 +1,49 @@
+# hw definition file for processing by chibios_hwdef.py
+# for for QioTekZealotF427 hardware bootloader from Qio-tek.com 
+
+MCU STM32F4xx STM32F427xx
+
+APJ_BOARD_ID 1021
+
+OSCILLATOR_HZ 24000000
+
+STM32_ST_USE_TIMER 5
+
+# flash size
+FLASH_SIZE_KB 2048
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 16
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART5
+
+PE3 LED_BOOTLOADER OUTPUT
+PE2 LED_ACTIVITY OUTPUT
+define HAL_LED_ON 1
+
+PA9 VBUS INPUT
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+PC12 UART5_TX UART5 NODMA
+PD2  UART5_RX UART5 NODMA
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# Add CS pins to ensure they are high in bootloader
+PA4 ICM20689_CS CS
+PE10 MAX7456_CS CS
+PB2 ICM20602_CS CS 
+PC15 DPS310_CS CS  
+PD3 BMI055_G_CS CS 
+PD4 BMI055_A_CS CS 
+# PA8 ICM20649_CS CS
+PB12 FRAM_CS CS SPEED_VERYLOW
+PE15 FLASH_CS CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat
new file mode 100644
index 0000000000..bb4c58e8ff
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat
@@ -0,0 +1,225 @@
+# hw definition file for processing by chibios_hwdef.py
+# for QioTekZealotF427 hardware from Qio-tek.com 
+
+# MCU class and specific type
+MCU STM32F4xx STM32F427xx
+
+# board ID for firmware load
+APJ_BOARD_ID 1021
+
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O2
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# this is the STM32 timer that ChibiOS will use for the low level
+# driver. This must be a 32 bit timer. We currently only support
+# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+
+# this is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN
+PA9 VBUS INPUT OPENDRAIN
+
+# The normal usage of this ordering is:
+# 1) SERIAL0: console (primary mavlink, usually USB)
+# 2) SERIAL1: telem1
+# 3) SERIAL2: telem2 (recommend ESP8266)
+# 4) SERIAL3: primary GPS
+# 5) SERIAL4: telem3 or GPS2
+# 6) SERIAL5: extra UART or sbus output (usually RTOS debug console)
+
+SERIAL_ORDER OTG1 USART2 USART1 USART3 UART4 UART5
+
+# UART1 
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# USART2 for Mavlink2 wifi module set baudrate to 921600
+PD5 USART2_TX USART2 NODMA
+PD6 USART2_RX USART2
+
+define HAL_SERIAL2_PROTOCOL SerialProtocol_MAVLink2
+define HAL_SERIAL2_BAUD 921600
+
+# USART3 for gps1
+PD8 USART3_TX USART3 NODMA
+PD9 USART3_RX USART3
+
+# UART4 
+PC10 UART4_TX UART4 NODMA
+PC11 UART4_RX UART4 NODMA
+
+# UART5
+PC12 UART5_TX UART5 NODMA
+PD2  UART5_RX UART5 NODMA
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+define HAL_STORAGE_SIZE 16384
+
+# SPI1 for IMU Baro OSD
+PA5  SPI1_SCK SPI1
+PA6  SPI1_MISO SPI1
+PA7  SPI1_MOSI SPI1
+PA4  ICM20689_CS CS
+PE10 MAX7456_CS CS
+PB2  ICM20602_CS CS 
+PC15 DPS310_CS CS   
+PD3  BMI055_G_CS CS 
+PD4  BMI055_A_CS CS 
+# PA8  ICM20649_CS CS
+
+# SPI bus for dataflash AND SD
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+PB12 FRAM_CS CS SPEED_VERYLOW
+PE15 FLASH_CS CS
+
+# SPI3 bus for reserve
+PB3 SPI3_SCK SPI3
+PB4 SPI3_MISO SPI3
+PB5 SPI3_MOSI SPI3
+
+SPIDEV icm20689   SPI1 DEVID1  ICM20689_CS  MODE3   2*MHZ    8*MHZ
+SPIDEV icm20602   SPI1 DEVID2  ICM20602_CS  MODE3   2*MHZ    8*MHZ
+SPIDEV bmi055_g   SPI1 DEVID3  BMI055_G_CS  MODE3  10*MHZ   10*MHZ
+SPIDEV bmi055_a   SPI1 DEVID4  BMI055_A_CS  MODE3  10*MHZ   10*MHZ
+# SPIDEV icm20649 SPI1 DEVID5  ICM20649_CS  MODE3   2*MHZ    8*MHZ
+SPIDEV dps310     SPI1 DEVID2  DPS310_CS    MODE3   5*MHZ    5*MHZ
+SPIDEV osd        SPI1 DEVID2  MAX7456_CS   MODE0  10*MHZ   10*MHZ
+SPIDEV ramtron    SPI2 DEVID2  FRAM_CS      MODE3   8*MHZ    8*MHZ 
+SPIDEV sdcard     SPI2 DEVID3  FLASH_CS     MODE0   1*MHZ    8*MHZ
+
+# Three IMUs, icm20649 for reserve
+IMU Invensense SPI:icm20689 ROTATION_NONE
+IMU Invensense SPI:icm20602 ROTATION_NONE
+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
+# IMU Invensensev2 SPI:icm20649 ROTATION_NONE
+
+# one baro, check both addressess
+BARO DPS280 SPI:dps310
+BARO MS56XX I2C:0:0x76
+BARO MS56XX I2C:0:0x77
+
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+# enable FAT filesystem support
+define HAL_OS_FATFS_IO 1
+# now some defines for logging and terrain data files
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# define the order that I2C buses 
+I2C_ORDER I2C2 I2C1
+define HAL_I2C_INTERNAL_MASK 1
+PB8 I2C1_SCL I2C1 
+PB9 I2C1_SDA I2C1 
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# look for I2C compass
+COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_270
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+
+# PWM out pins
+PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
+PA1 TIM2_CH2 TIM2 PWM(2) GPIO(51)
+PA2 TIM2_CH3 TIM2 PWM(3) GPIO(52)
+PA3 TIM2_CH4 TIM2 PWM(4) GPIO(53)
+PE9 TIM1_CH1 TIM1 PWM(5) GPIO(54)
+PE11 TIM1_CH2 TIM1 PWM(6) GPIO(55)
+PE13 TIM1_CH3 TIM1 PWM(7) GPIO(56)
+PE14 TIM1_CH4 TIM1 PWM(8) GPIO(57)
+
+PD13 TIM4_CH2 TIM4 PWM(9) GPIO(58)
+PD12 TIM4_CH1 TIM4 PWM(10) GPIO(59)
+PD15 TIM4_CH4 TIM4 PWM(11) GPIO(60)
+PD14 TIM4_CH3 TIM4 PWM(12) GPIO(61)
+PC9  TIM3_CH4 TIM3 PWM(13) GPIO(62) NODMA
+PC8  TIM3_CH3 TIM3 PWM(14) GPIO(63) NODMA
+
+PC14 EXTERN_GPIO1 GPIO(1)
+PC13 EXTERN_GPIO2 GPIO(2)
+PE4  EXTERN_GPIO3 GPIO(3)
+PE6  EXTERN_GPIO4 GPIO(4)
+define RELAY1_PIN_DEFAULT 1
+define RELAY2_PIN_DEFAULT 2
+define RELAY3_PIN_DEFAULT 3
+define RELAY4_PIN_DEFAULT 4
+
+# also USART6_RX for serial RC
+PC7 TIM8_CH2 TIM8 RCIN PULLUP LOW DMA_CH0 
+
+# LED setup is similar to PixRacer
+define HAL_HAVE_PIXRACER_LED
+PE3 LED_RED OUTPUT GPIO(10)
+PE2 LED_GREEN OUTPUT GPIO(11)
+PE1 LED_BLUE OUTPUT GPIO(12)
+PE0 LED_YELOW OUTPUT GPIO(13)
+
+define HAL_GPIO_A_LED_PIN 10
+define HAL_GPIO_B_LED_PIN 11
+define HAL_GPIO_C_LED_PIN 12
+
+define HAL_GPIO_LED_ON  0
+define HAL_GPIO_LED_OFF 1
+
+# analog in
+PC0 PRESSURE_SENS ADC1 SCALE(2)
+PC1 RSSI_IN ADC1 SCALE(2)
+
+# define the primary battery connectors.
+
+PC2 BATT_CURRENT_SENS ADC1 SCALE(2)
+PC3 BATT_VOLTAGE_SENS ADC1 SCALE(2)
+PB0 BATT2_CURRENT_SENS ADC1 SCALE(2)
+PB1 BATT2_VOLTAGE_SENS ADC1 SCALE(2)
+PC4 VDD_5V_SENS ADC1 SCALE(2)
+PC5 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(12)
+
+define HAL_BATT_VOLT_PIN 13
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT2_VOLT_PIN 9
+define HAL_BATT2_CURR_PIN 8
+define HAL_BATT_VOLT_SCALE 10.7
+define HAL_BATT_CURR_SCALE 17
+
+define HAL_HAVE_IMU_HEATER 1
+PE12 HEATER_EN OUTPUT LOW GPIO(5)
+define HAL_HEATER_GPIO_PIN 5
+
+define HAL_HAVE_SAFETY_SWITCH 1 
+PE7 LED_SAFETY OUTPUT
+PE8 SAFETY_IN INPUT PULLDOWN
+PE5 TIM9_CH1 TIM9 ALARM
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# drdy pins
+PA15  DRDY_ICM20689 INPUT
+PA10  DRDY_ICM20602 INPUT
+# PD11 DRDY_ICM20649 INPUT
+
+define BOARD_PWM_COUNT_DEFAULT 14