diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/README.md b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/README.md
new file mode 100644
index 00000000000..361a65ac306
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/README.md
@@ -0,0 +1,30 @@
+# FlyingRCH7DPro-bdshot
+
+This is the bi-directional DShot variant of the FlyingRC H7D Pro target.
+
+For board hardware details, pinout, and images, see the main
+[FlyingRCH7DPro README](../FlyingRCH7DPro/README.md).
+
+This target uses USART6 (`SERIAL7`, connector `UART6 RCIN`) as the receiver
+UART and defaults `SERIAL7_PROTOCOL` to RCIN. USART6 RX/TX both have DMA, so
+CRSF/ELRS can use `R6` and `T6` for bidirectional telemetry. Unidirectional
+serial protocols such as SBUS remain supported on `R6`, but PPM is not
+available because the timer is used by the BDShot motor outputs.
+
+The DJI digital VTX connector's `R8` pin is UART8 RX (`SERIAL5`) and can be
+used as an alternate SBUS input by first setting `SERIAL7_PROTOCOL=-1` and then
+setting `SERIAL5_PROTOCOL=23`. SBUS inversion is handled automatically, so no
+`SERIAL5_OPTIONS` change is required. UART8 is RX-only and interrupt-driven.
+
+The Digital VTX connector uses UART4 (`SERIAL6`) and defaults to MSP
+DisplayPort with `OSD_TYPE2=5`. UART4 TX has DMA; RX is interrupt-driven to
+preserve the exclusive DMA allocations required by the IMU SPI buses and the
+BDShot motor timer groups.
+
+The `LED&BZ` connector's `BZ-` pad differs from the standard target. TIM2 is
+repurposed for bi-directional motor output, so PA15 is driven as a plain GPIO
+through `HAL_BUZZER_PIN` and can only switch the buzzer on or off. It therefore
+produces a single tone instead of the standard target's normal ArduPilot alarm
+tone patterns.
+
+![FlyingRC H7D Pro Front](../FlyingRCH7DPro/FlyingRCH7DPro_front.jpg)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/defaults.parm
new file mode 100644
index 00000000000..ba6dbdc722f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/defaults.parm
@@ -0,0 +1,8 @@
+# setup for WS2812 LED on channel 13
+SERVO13_FUNCTION 120
+
+# VTX BEC is active-low and defaults to on
+RELAY1_INVERTED 1
+
+# enable MSP DisplayPort on the digital VTX connector
+OSD_TYPE2 5
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/hwdef.dat
new file mode 100644
index 00000000000..33cd101f717
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro-bdshot/hwdef.dat
@@ -0,0 +1,40 @@
+# Bi-directional DShot version of FlyingRCH7DPro.
+# RC input and buzzer timers need to be used so UART is used for RCIN
+# and the buzzer becomes single tone.
+
+include ../FlyingRCH7DPro/hwdef.dat
+
+USE_BOOTLOADER_FROM_BOARD FlyingRCH7DPro
+
+# undefine the pins we are going to change
+undef PC7 PC6 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6 PA2 PA3 PD12 PD13 PB9 PB8
+
+# UART4 (digital VTX), SERIAL6. Keep TX on DMA for DisplayPort.
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4 NODMA
+
+# USART6 (RC input), SERIAL7
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+
+# Motors
+PB0  TIM3_CH3  TIM3  PWM(1)  GPIO(50) BIDIR
+PB1  TIM3_CH4  TIM3  PWM(2)  GPIO(51)
+PA0  TIM2_CH1  TIM2  PWM(3)  GPIO(52) BIDIR
+PA1  TIM2_CH2  TIM2  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54) BIDIR
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
+PD12 TIM4_CH1  TIM4  PWM(7)  GPIO(56) BIDIR
+PD13 TIM4_CH2  TIM4  PWM(8)  GPIO(57)
+
+PD14 TIM4_CH3  TIM4  PWM(9)  GPIO(58)
+PD15 TIM4_CH4  TIM4  PWM(10) GPIO(59)
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+
+# Beeper
+PA15 BUZZER OUTPUT GPIO(32) LOW
+define HAL_BUZZER_PIN 32
+
+DMA_PRIORITY SPI1* SPI4*
+DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4*
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/FlyingRCH7DPro_back.jpg b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/FlyingRCH7DPro_back.jpg
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/README.md b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/README.md
new file mode 100644
index 00000000000..4eae798a82d
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/README.md
@@ -0,0 +1,277 @@
+# FlyingRC H7D Pro Flight Controller
+
+The FlyingRC H7D Pro is an STM32H743-based FPV flight controller for
+feature-rich multirotor builds.
+
+Product documentation and wiring references are published on the
+[FlyingRC H7D Pro product page](https://flyingrc-official.github.io/en/products/h7d-pro/).
+
+## Where to Buy
+
+The FlyingRC H7D Pro is available from the
+[FlyingRC Taobao store](https://e7wgwo2ehnynhjklw2knt535zmlw176.world.taobao.com/shop/view_shop.htm?appUid=RAzN8HAiDiXrnbmP2phqB88hKp1Wt).
+
+## Features
+
+- STM32H743 microcontroller.
+- Dual ICM42688 IMUs:
+  - `icm42688_1` on SPI1, chip select `IMU1_CS` / PC15.
+  - `icm42688_2` on SPI4, chip select `IMU2_CS` / PC13.
+- Barometer support for DPS310 / SPL06 on I2C2.
+- AT7456E analog OSD.
+- microSD card support.
+- CAN1 bus.
+- Onboard voltage sensing and two independent ESC current-sense inputs.
+- External compass probing on I2C through the GPS connector `DA1`/`CL1` pins.
+- WS2812 LED output on PWM13 / `LED`.
+- Switchable onboard 9 V VTX/camera BEC controlled by `RELAY1`.
+- Digital VTX connector on UART4 (`T4`/`R4`, ArduPilot `SERIAL6`).
+- DJI digital VTX SBUS input on UART8 (`R8`, ArduPilot `SERIAL5`).
+
+## Physical
+
+![FlyingRC H7D Pro Front](FlyingRCH7DPro_front.jpg "FlyingRC H7D Pro Front")
+
+![FlyingRC H7D Pro Back](FlyingRCH7DPro_back.jpg "FlyingRC H7D Pro Back")
+
+## Pinout
+
+![FlyingRC H7D Pro Front Pinout](FlyingRCH7DPro_pinout_front.jpg "FlyingRC H7D Pro Front Pinout")
+
+![FlyingRC H7D Pro Back Pinout](FlyingRCH7DPro_pinout_back.jpg "FlyingRC H7D Pro Back Pinout")
+
+## Firmware Targets
+
+Two ArduPilot targets are provided:
+
+- `FlyingRCH7DPro`: standard target.
+- `FlyingRCH7DPro-bdshot`: bi-directional DShot target with the timer and DMA
+  remapping required for BDShot.
+
+Firmware for the FlyingRC H7D Pro is available from the
+[ArduPilot Firmware Server](https://firmware.ardupilot.org) under the
+`FlyingRCH7DPro` and `FlyingRCH7DPro-bdshot` targets.
+
+The BDShot target reuses the standard `FlyingRCH7DPro` bootloader with:
+
+```text
+USE_BOOTLOADER_FROM_BOARD FlyingRCH7DPro
+```
+
+## UART Mapping
+
+ArduPilot SERIAL numbers do not match the board UART labels one-to-one. The DMA
+column lists RX/TX DMA availability for the standard target first and notes any
+BDShot-target difference.
+
+| ArduPilot port | Hardware port | Board label / use | Default protocol | DMA | Flow control |
+| --- | --- | --- | --- | --- | --- |
+| SERIAL0 | USB OTG1 | USB | MAVLink2 | N/A | N/A |
+| SERIAL1 | UART7 | Telem1 | MAVLink2 | RX and TX | Not exposed |
+| SERIAL2 | USART1 | Telem2 | MAVLink2 | RX and TX | None |
+| SERIAL3 | USART2 | GPS1 | GPS | RX and TX | None |
+| SERIAL4 | USART3 | R3, ESC telemetry | ESC telemetry | RX only | None |
+| SERIAL5 | UART8 | DJI VTX SBUS input, R8 | None | RX only, interrupt-driven | None |
+| SERIAL6 | UART4 | Digital VTX, T4/R4 | MSP DisplayPort | Standard: RX and TX; BDShot: TX only | None |
+| SERIAL7 | USART6 | UART6 RCIN, R6/T6 | RCIN | RX and TX | None |
+
+Both 4-in-1 ESC connectors expose the same `R3` signal, which is
+`USART3_RX`/PD9 (`SERIAL4`). It is an RX-only ESC telemetry input; there is no
+`T3` pad and this port is not assigned as GPS2. Connect only one telemetry
+source to the shared `R3` signal.
+
+The Telem1 connector exposes only `4V5`, `G`, `R7`, and `T7`. UART7 CTS and RTS
+are not routed to the connector, so hardware flow control is unavailable on
+`SERIAL1`.
+
+## CAN
+
+The board provides one DroneCAN/CAN1 connector with `4V5`, `G`, `H`, and `L`
+pins. The CAN transceiver silent-mode control is GPIO70. It starts LOW, which
+enables the transceiver for normal CAN operation.
+
+## RC Input
+
+The receiver connector is labelled `UART6 RCIN` and exposes `4V5`, `G`, `R6`,
+and `T6`. Both targets default to the full USART6 UART with
+`SERIAL7_PROTOCOL=23` (RCIN), so CRSF/ELRS can use `R6` and `T6` for
+bidirectional telemetry. USART6 RX and TX both have DMA. Serial receiver
+protocols such as SBUS are auto-detected on `R6`; PPM is not supported on this
+connector.
+
+For common serial receiver configurations:
+
+- FPort on `R6`: connect the single wire to `R6` and set `SERIAL7_OPTIONS=15`.
+- FPort on `T6`: connect the single wire to `T6` and set `SERIAL7_OPTIONS=7`.
+- CRSF/ELRS: connect both `R6` and `T6` and set `SERIAL7_OPTIONS=0`.
+- SRXL2: connect the receiver to `T6` and set `SERIAL7_OPTIONS=4`.
+
+The DJI digital VTX connector also exposes its SBUS output on `R8`, which is
+UART8 RX (`SERIAL5`). To use it as an alternate RC input, set
+`SERIAL7_PROTOCOL=-1` to disable the primary RC input, then set
+`SERIAL5_PROTOCOL=23`. SBUS inversion is handled automatically by the RC
+protocol detector, so no `SERIAL5_OPTIONS` change is required. UART8 is RX-only
+on this board and uses interrupt-driven input rather than DMA. See the
+[ArduPilot RC systems documentation](https://ardupilot.org/copter/docs/common-rc-systems.html)
+for receiver-specific setup.
+
+## OSD Support
+
+The FlyingRC H7D Pro supports onboard analog OSD using `OSD_TYPE=1`
+(AT7456E/MAX7456-compatible driver).
+
+The analog camera connector exposes `9V`/`G`/`CAM`, where `CAM` is the composite
+video input to the onboard OSD. The analog video transmitter connector exposes
+`T4`/`VTX`/`9V`/`G`, where `VTX` is the OSD-processed composite video output.
+
+The Digital VTX connector `T4`/`R4` is UART4 (`SERIAL6`). Both targets default
+`SERIAL6_PROTOCOL` to MSP DisplayPort and `OSD_TYPE2=5`. The standard target has
+DMA on both UART4 directions; the BDShot target keeps DMA on UART4 TX and uses
+interrupt-driven RX so the IMU and motor-timer DMA allocations remain
+conflict-free.
+
+The onboard analog OSD video path operates alongside MSP DisplayPort OSD by
+default. Only the `T4` control signal is shared: UART4 TX is routed to both the
+digital VTX connector and the analog VTX control pad. To control an analog VTX,
+change `SERIAL6_PROTOCOL` from MSP DisplayPort to SmartAudio or Tramp as required
+by the VTX, and set `OSD_TYPE2=0` to disable DisplayPort and avoid a pre-arm
+warning. The shared `T4` signal cannot provide analog VTX control and MSP
+DisplayPort at the same time; this does not affect the independent `CAM` to
+`VTX` analog video path.
+
+## PWM Outputs
+
+The standard target provides 12 PWM outputs plus PWM13 for the WS2812 `LED` pad.
+It supports DShot on the motor outputs, but not bi-directional DShot. Bi-directional
+DShot is available only on the `FlyingRCH7DPro-bdshot` target.
+
+| Output | Board label | Standard target | BDShot target |
+| --- | --- | --- | --- |
+| PWM1 | 1 ESC: 1 | TIM8_CH2N | TIM3_CH3, BIDIR |
+| PWM2 | 1 ESC: 2 | TIM8_CH3N | TIM3_CH4, BIDIR |
+| PWM3 | 1 ESC: 3 | TIM5_CH1 | TIM2_CH1, BIDIR |
+| PWM4 | 1 ESC: 4 | TIM5_CH2 | TIM2_CH2, BIDIR |
+| PWM5 | 2 ESC: 5 | TIM5_CH3 | TIM5_CH3, BIDIR |
+| PWM6 | 2 ESC: 6 | TIM5_CH4 | TIM5_CH4, BIDIR |
+| PWM7 | 2 ESC: 7 | TIM4_CH1 | TIM4_CH1, BIDIR |
+| PWM8 | 2 ESC: 8 | TIM4_CH2 | TIM4_CH2, BIDIR |
+| PWM9 | S9 | TIM4_CH3 | TIM4_CH3 |
+| PWM10 | S10 | TIM4_CH4 | TIM4_CH4 |
+| PWM11 | S11 | TIM15_CH1 | TIM15_CH1 |
+| PWM12 | S12 | TIM15_CH2 | TIM15_CH2 |
+| PWM13 | LED | TIM1_CH1 | TIM1_CH1, WS2812 LED |
+
+Outputs are grouped by timer. Every output in a timer group must use the same
+output protocol and rate:
+
+| Target | Timer | Outputs |
+| --- | --- | --- |
+| Standard | TIM8 | PWM1, PWM2 |
+| Standard | TIM5 | PWM3, PWM4, PWM5, PWM6 |
+| Standard | TIM4 | PWM7, PWM8, PWM9, PWM10 |
+| Standard | TIM15 | PWM11, PWM12 |
+| Standard | TIM1 | PWM13 |
+| BDShot | TIM3 | PWM1, PWM2 |
+| BDShot | TIM2 | PWM3, PWM4 |
+| BDShot | TIM5 | PWM5, PWM6 |
+| BDShot | TIM4 | PWM7, PWM8, PWM9, PWM10 |
+| BDShot | TIM15 | PWM11, PWM12 |
+| BDShot | TIM1 | PWM13 |
+
+In both targets, PWM7-PWM10 share TIM4. This means motors M7/M8 on PWM7/PWM8
+and auxiliary pads S9/S10 on PWM9/PWM10 must all use the same output protocol
+and rate.
+
+In the BDShot target, M1/M3/M5/M7 carry the `BIDIR` timer-capture definitions
+needed for the M1-M8 bi-directional DShot motor set. DMA sharing is constrained
+with `DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4*` so the IMU SPI buses do
+not share DMA with the BDShot motor timer groups.
+
+## Buzzer
+
+The `LED&BZ` connector exposes the buzzer output on the `BZ-` pad.
+On the standard target, PA15 uses TIM2 as the normal ArduPilot `ALARM` tone
+generator and supports the standard alarm tone patterns. On the BDShot target,
+TIM2 is repurposed for bi-directional motor output, so PA15 is driven as a plain
+GPIO through `HAL_BUZZER_PIN`; the buzzer can only switch on or off and therefore
+produces a single tone instead of the normal alarm patterns.
+
+## Battery Monitoring
+
+The two ESC connectors provide separate current-sense signals; they are not
+summed on the board:
+
+- `CURR1` is routed to PC1 / ADC pin 11 (`BATT_CURR_PIN`).
+- `CURR2` is routed to PA7 / ADC pin 7 (`BATT2_CURR_PIN`).
+
+Default battery monitor settings in the hwdef are:
+
+- `BATT_MONITOR`: 4
+- `BATT_VOLT_PIN`: 10
+- `BATT_CURR_PIN`: 11
+- `BATT_VOLT_MULT`: 21.0
+- `BATT_AMP_PERVLT`: 100.0
+
+To use the second, current-only input, set:
+
+- `BATT2_MONITOR`: 31 (Analog Current Only)
+- `BATT2_CURR_PIN`: 7
+- `BATT2_AMP_PERVLT`: 100.0 initially
+
+For current-production FlyingRC H7D Pro hardware, the reference defaults are
+confirmed as 21.0 for the voltage-divider multiplier and 100.0 A/V for both
+current inputs. The older 11.0 / 66.7 values published in an earlier product
+manual are stale and do not apply to current-production hardware. Because
+`CURR1` and `CURR2` measure current-sense outputs supplied by the connected
+ESCs, installations using a different ESC or current-sense circuit must
+calibrate each current input against a known load before flight. The product
+material lists the board for 12-28 V DC / 3S-6S LiPo input.
+
+## Relay / VTX Power
+
+The onboard 9 V VTX/camera BEC is mapped to `RELAY1` on GPIO81. Its control
+signal is active-low, so Relay1 is inverted and defaults to ON:
+
+```text
+RELAY1_PIN       81
+RELAY1_FUNCTION  1
+RELAY1_DEFAULT   1
+RELAY1_INVERTED  1
+```
+
+Use the normal ArduPilot relay controls to switch the BEC off or on. The
+bootloader also holds the active-low control signal low so the 9 V rail remains
+on once the ArduPilot bootloader is running, including during bootloader-based
+firmware updates.
+
+## Compass and IMUs
+
+The current ArduPilot target probes the two ICM42688 IMUs with these
+orientations:
+
+```text
+IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_270
+IMU Invensensev3 SPI:icm42688_2 ROTATION_YAW_180
+```
+
+Fast sampling and 19-bit high-resolution FIFO mode are enabled for both IMUs.
+
+The board has no built-in compass in this hwdef. An external compass can be
+connected to the GPS connector's `DA1` and `CL1` pins; external compass probing
+is enabled on that I2C bus. I2C1 and I2C2 both have onboard pull-ups to 3.3 V.
+
+## Loading Firmware
+
+To load ArduPilot firmware for the first time, hold the boot button while
+plugging in USB to enter STM32 DFU mode. Then use STM32CubeProgrammer or another
+DFU utility to load the `FlyingRCH7DPro_bl.bin` bootloader file. Subsequently,
+an ArduPilot-compatible ground station can update firmware using the `.apj` file
+for the matching target.
+
+Use the target that matches the build:
+
+- Standard DShot / PWM builds: `FlyingRCH7DPro`
+- Bi-directional DShot builds: `FlyingRCH7DPro-bdshot`
+
+Always verify board target, wiring, sensor orientation, motor order, and battery
+monitor calibration before flight.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/defaults.parm
new file mode 100644
index 00000000000..ba6dbdc722f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/defaults.parm
@@ -0,0 +1,8 @@
+# setup for WS2812 LED on channel 13
+SERVO13_FUNCTION 120
+
+# VTX BEC is active-low and defaults to on
+RELAY1_INVERTED 1
+
+# enable MSP DisplayPort on the digital VTX connector
+OSD_TYPE2 5
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/hwdef-bl.dat
new file mode 100644
index 00000000000..a031406a646
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/hwdef-bl.dat
@@ -0,0 +1,70 @@
+# hw definition file for processing by chibios_pins.py
+# for FlyingRC H7D Pro bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_FLYINGRCH7DPRO
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader starts at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+
+
+# order of UARTs (and USB). Allow bootloading on USB and telem1
+SERIAL_ORDER OTG1 UART7
+
+# UART7 (telem1)
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# PA10 IO-debug-console
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# Keep the switched 9 V VTX/camera BEC enabled during bootloading
+PD10 PINIO1 OUTPUT LOW
+
+PE3 LED_BOOTLOADER OUTPUT LOW
+define HAL_LED_ON 0
+
+# Add CS pins to ensure they are high in bootloader
+PC15 IMU1_CS CS
+PB12 AT7456E_CS CS
+PC13 IMU2_CS CS
+
+# support flashing from SD card:
+
+# 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
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/hwdef.dat
new file mode 100644
index 00000000000..68621645579
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FlyingRCH7DPro/hwdef.dat
@@ -0,0 +1,191 @@
+# hw definition file for processing by chibios_pins.py
+# for FlyingRC H7D Pro
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID. See Tools/AP_Bootloader/board_types.txt
+APJ_BOARD_ID AP_HW_FLYINGRCH7DPRO
+
+# crystal frequency, setup to use external oscillator
+OSCILLATOR_HZ 8000000
+
+FLASH_SIZE_KB 2048
+
+# bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 12
+define CH_CFG_ST_RESOLUTION 16
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# SPI1 for IMU1
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PD7 SPI1_MOSI SPI1
+PC15 IMU1_CS CS
+
+# SPI2 for AT7456E OSD
+PB12 AT7456E_CS CS
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# SPI4 for IMU2
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+
+PC13 IMU2_CS CS
+
+# two I2C bus
+I2C_ORDER I2C2 I2C1
+
+# I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# I2C2
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# ADC
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+PA7 BATT2_CURRENT_SENS ADC1 SCALE(1)
+define HAL_BATT_MONITOR_DEFAULT 4
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT2_CURR_PIN 7
+define HAL_BATT_VOLT_SCALE 21.0
+define HAL_BATT_CURR_SCALE 100.0
+define HAL_BATT2_CURR_SCALE 100.0
+
+# onboard status LEDs
+define AP_NOTIFY_GPIO_LED_2_ENABLED 1
+PE3 LED0 OUTPUT LOW GPIO(90) # blue status LED
+PE4 LED1 OUTPUT LOW GPIO(91) # green status LED
+define HAL_GPIO_A_LED_PIN 91
+define HAL_GPIO_B_LED_PIN 90
+define DEFAULT_NTF_LED_TYPES 257
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART1 USART2 USART3 UART8 UART4 USART6
+
+# USART1 (telem2)
+PA10 USART1_RX USART1
+PA9  USART1_TX USART1
+
+# USART2 (GPS1)
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# USART3 (ESC telemetry input R3), SERIAL4
+PD9 USART3_RX USART3
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_ESCTelemetry
+
+# UART4 (digital VTX), SERIAL6
+PB9 UART4_TX UART4
+PB8 UART4_RX UART4
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# USART6 (RC input), SERIAL7. Default to the full UART for CRSF/ELRS.
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_RCIN
+
+# UART7 (telem1)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# UART8 (DJI digital VTX SBUS input R8), SERIAL5. RX is interrupt-driven to
+# leave DMA available for USART6. UART8 TX is not exposed by the board.
+PE0 UART8_RX UART8 NODMA
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+PD3 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+
+# Motors
+PB0  TIM8_CH2N TIM8  PWM(1)  GPIO(50)
+PB1  TIM8_CH3N TIM8  PWM(2)  GPIO(51)
+PA0  TIM5_CH1  TIM5  PWM(3)  GPIO(52)
+PA1  TIM5_CH2  TIM5  PWM(4)  GPIO(53)
+PA2  TIM5_CH3  TIM5  PWM(5)  GPIO(54)
+PA3  TIM5_CH4  TIM5  PWM(6)  GPIO(55)
+PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56)
+PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57)
+PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58)
+PD15 TIM4_CH4 TIM4 PWM(10) GPIO(59)
+PE5  TIM15_CH1 TIM15 PWM(11) GPIO(60)
+PE6  TIM15_CH2 TIM15 PWM(12) GPIO(61)
+PA8 TIM1_CH1 TIM1 PWM(13) GPIO(62) # for WS2812 LED
+define HAL_FRAME_TYPE_DEFAULT 12
+
+# Beeper
+PA15 TIM2_CH1 TIM2 GPIO(32) ALARM
+
+# 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
+
+# GPIOs
+PD10 PINIO1 OUTPUT GPIO(81) LOW # active-low VTX BEC power control
+define RELAY1_PIN_DEFAULT 81
+define RELAY1_DEFAULT 1
+
+DMA_PRIORITY S*
+
+define HAL_STORAGE_SIZE 32768
+
+# use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+STORAGE_FLASH_PAGE 14
+
+# spi devices
+SPIDEV icm42688_1  SPI1 DEVID1 IMU1_CS       MODE3  2*MHZ 16*MHZ   # Clock is 100Mhz so highest clock <= 24Mhz is 100Mhz/8
+SPIDEV icm42688_2  SPI4 DEVID1 IMU2_CS       MODE3  2*MHZ 16*MHZ
+SPIDEV osd         SPI2 DEVID1 AT7456E_CS    MODE0 10*MHZ 10*MHZ
+
+
+DMA_NOSHARE SPI1* SPI4*
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define AP_COMPASS_PROBING_ENABLED 1
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# IMU orientations
+IMU Invensensev3 SPI:icm42688_1 ROTATION_YAW_270
+IMU Invensensev3 SPI:icm42688_2 ROTATION_YAW_180
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 3
+define HAL_INS_HIGHRES_SAMPLE 3
+
+# DPS310/SPL06 integrated on I2C2 bus
+BARO DPS310 I2C:0:0x76
+BARO SPL06 I2C:0:0x76
+
+define HAL_OS_FATFS_IO 1
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN True