MCU STM32F4xx STM32F427xx define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 APJ_BOARD_ID 9 OSCILLATOR_HZ 24000000 STM32_ST_USE_TIMER 5 FLASH_SIZE_KB 2048 USB_STRING_MANUFACTURER "ArduPilot" I2C_ORDER I2C2 I2C1 SERIAL_ORDER OTG1 USART2 USART3 UART4 UART8 UART7 IOMCU_UART USART6 PA0 UART4_TX UART4 PA1 UART4_RX UART4 PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA3 BATT_CURRENT_SENS ADC1 SCALE(1) PA4 VDD_5V_SENS ADC1 SCALE(2) definitions. You can add speed modifiers if you want them, otherwise the defaults for the peripheral class are used. PA5 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PA7 SPI1_MOSI SPI1 PA8 nVDD_5V_PERIPH_EN OUTPUT LOW PA9 VBUS INPUT OPENDRAIN PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD PA15 TIM2_CH1 TIM2 GPIO(77) ALARM PB0 EXTERN_GPIO1 OUTPUT GPIO(1) PB1 EXTERN_GPIO2 OUTPUT GPIO(2) PB2 BOOT1 INPUT PB3 FMU_SW0 INPUT PB6 CAN2_TX CAN2 PB12 CAN2_RX CAN2 PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 PB13 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 PC0 VBUS_nVALID INPUT PULLUP PC1 MAG_CS CS PC2 MPU_CS CS PC3 AUX_POWER ADC1 SCALE(1) PC4 AUX_ADC2 ADC1 SCALE(1) PC5 PRESSURE_SENS ADC1 SCALE(2) PC6 USART6_TX USART6 PC7 USART6_RX USART6 PC8 SDIO_D0 SDIO PC9 SDIO_D1 SDIO PC10 SDIO_D2 SDIO PC11 SDIO_D3 SDIO PC12 SDIO_CK SDIO PD2 SDIO_CMD SDIO PC13 GYRO_EXT_CS CS PC14 BARO_EXT_CS CS PC15 ACCEL_EXT_CS CS PD7 BARO_CS CS PE4 MPU_EXT_CS CS PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 PD5 USART2_TX USART2 PD6 USART2_RX USART2 PD8 USART3_TX USART3 PD9 USART3_RX USART3 PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 PD10 FRAM_CS CS SPEED_VERYLOW PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PE13 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) PD15 MPU_DRDY INPUT PE0 UART8_RX UART8 PE1 UART8_TX UART8 PE2 SPI4_SCK SPI4 PE5 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH PE7 UART7_RX UART7 PE8 UART7_TX UART7 PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0) PB5 VDD_BRICK_nVALID INPUT PULLUP PB7 VDD_BRICK2_nVALID INPUT PULLUP PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP PE15 VDD_5V_PERIPH_nOC INPUT PULLUP SPIDEV ms5611 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ SPIDEV ms5611_ext SPI4 DEVID2 BARO_EXT_CS MODE3 20*MHZ 20*MHZ SPIDEV mpu6000 SPI1 DEVID4 MPU_CS MODE3 2*MHZ 8*MHZ SPIDEV icm20608-am SPI1 DEVID2 ACCEL_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV mpu9250 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV mpu9250_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948 SPI1 DEVID4 MPU_CS MODE3 4*MHZ 8*MHZ SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV hmc5843 SPI1 DEVID5 MAG_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_g SPI1 DEVID1 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_am SPI1 DEVID2 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_ext_g SPI4 DEVID4 GYRO_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV lsm9ds0_ext_am SPI4 DEVID3 ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ SPIDEV icm20602_ext SPI4 DEVID4 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ SPIDEV ramtron SPI2 DEVID10 FRAM_CS MODE3 8*MHZ 8*MHZ SPIDEV external0m0 SPI4 DEVID5 MPU_EXT_CS MODE0 2*MHZ 2*MHZ SPIDEV external0m1 SPI4 DEVID5 MPU_EXT_CS MODE1 2*MHZ 2*MHZ SPIDEV external0m2 SPI4 DEVID5 MPU_EXT_CS MODE2 2*MHZ 2*MHZ SPIDEV external0m3 SPI4 DEVID5 MPU_EXT_CS MODE3 2*MHZ 2*MHZ SPIDEV pixartPC15 SPI4 DEVID13 ACCEL_EXT_CS MODE3 2*MHZ 2*MHZ define HAL_CHIBIOS_ARCH_FMUV3 1 define HAL_STORAGE_SIZE 16384 define HAL_HAVE_SAFETY_SWITCH 1 define HAL_WITH_RAMTRON 1 define HAL_HAVE_IMU_HEATER 1 define HAL_OS_FATFS_IO 1 define HAL_BATT_VOLT_PIN 2 define HAL_BATT_CURR_PIN 3 define HAL_BATT_VOLT_SCALE 10.1 define HAL_BATT_CURR_SCALE 17.0 define HAL_I2C_MAX_CLOCK 100000 DMA_NOSHARE USART6_TX ADC1 DMA_PRIORITY USART6* SPI* ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin define AP_NOTIFY_OREOLED_ENABLED (BOARD_FLASH_SIZE > 1024) define HAL_SOLO_GIMBAL_ENABLED (HAL_MOUNT_ENABLED && BOARD_FLASH_SIZE > 1024) undef AP_BATTERY_SMBUS_SOLO_ENABLED define AP_BATTERY_SMBUS_SOLO_ENABLED (AP_BATTERY_SMBUS_ENABLED && BOARD_FLASH_SIZE > 1024) define BOARD_CHECK_F427_USE_1M "ERROR: 1M flash use fmuv2" IMU Invensense SPI:mpu6000 ROTATION_ROLL_180 IMU LSM9DS0 SPI:lsm9ds0_g SPI:lsm9ds0_am ROTATION_ROLL_180 ROTATION_ROLL_180_YAW_270 ROTATION_PITCH_180 BARO MS56XX SPI:ms5611 COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180 COMPASS LSM303D SPI:lsm9ds0_am ROTATION_NONE define HAL_PROBE_EXTERNAL_I2C_COMPASSES undef BOARD_CHECK_F427_USE_1M define BOARD_CHECK_F427_USE_1M "ERROR: 1M flash use Pixhawk1-1M" ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin define HAL_WITH_IO_MCU_DSHOT 1