diff --git a/src/config/AXISFLYINGF7PRO/config.h b/src/config/AXISFLYINGF7PRO/config.h
index 9234dce303..7c3081c871 100644
--- a/src/config/AXISFLYINGF7PRO/config.h
+++ b/src/config/AXISFLYINGF7PRO/config.h
@@ -29,6 +29,8 @@
#define USE_GYRO
#define USE_ACC
#define USE_ACCGYRO_BMI270
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
#define USE_BARO_DPS310
#define USE_FLASH
#define USE_FLASH_W25Q128FV
diff --git a/src/config/GEPRCG4AIO/config.h b/src/config/GEPRCG4AIO/config.h
new file mode 100644
index 0000000000..175496eb9b
--- /dev/null
+++ b/src/config/GEPRCG4AIO/config.h
@@ -0,0 +1,101 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see .
+ */
+
+#define FC_TARGET_MCU STM32G47X
+#define BOARD_NAME GEPRCG4AIO
+#define MANUFACTURER_ID GEPR
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+
+#define BEEPER_PIN PA15
+#define MOTOR1_PIN PA0
+#define MOTOR2_PIN PA1
+#define MOTOR3_PIN PA2
+#define MOTOR4_PIN PA3
+#define LED_STRIP_PIN PB6
+#define UART1_TX_PIN PA9
+#define UART2_TX_PIN PB3
+// #define UART3_TX_PIN PB9
+#define UART4_TX_PIN PC10
+#define UART1_RX_PIN PA10
+#define UART2_RX_PIN PB4
+#define UART4_RX_PIN PC11
+#define UART1_RX_PIN1 PB11
+#define LPUART1_TX_PIN PB10
+#define I2C1_SCL_PIN PA13
+#define I2C1_SDA_PIN PA14
+#define LED0_PIN PB7
+#define SPI1_SCK_PIN PA5
+#define SPI2_SCK_PIN PB13
+#define SPI3_SCK_PIN PB3
+#define SPI1_SDI_PIN PA6
+#define SPI2_SDI_PIN PB14
+#define SPI3_SDI_PIN PB4
+#define SPI1_SDO_PIN PA7
+#define SPI2_SDO_PIN PB15
+#define SPI3_SDO_PIN PB5
+#define ADC_VBAT_PIN PB2
+#define ADC_CURR_PIN PB1
+#define FLASH_CS_PIN PC6
+#define MAX7456_SPI_CS_PIN PA8
+#define GYRO_1_EXTI_PIN PA4
+#define GYRO_1_CS_PIN PB0
+
+#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 0, PB6 , 3, 9) \
+ TIMER_PIN_MAP( 1, PA0 , 1, 1) \
+ TIMER_PIN_MAP( 2, PA1 , 1, 2) \
+ TIMER_PIN_MAP( 3, PA2 , 2, 3) \
+ TIMER_PIN_MAP( 4, PA3 , 2, 4)
+
+#define ADC1_DMA_OPT 10
+#define ADC2_DMA_OPT 11
+
+#define SPI1_RX_DMA_OPT 6
+#define SPI1_TX_DMA_OPT 7
+
+#define SPI2_RX_DMA_OPT 8
+#define SPI2_TX_DMA_OPT 9
+
+// #define TIMUP2_DMA_OPT 0
+// #define TIMUP8_DMA_OPT 0
+
+#define ADC_INSTANCE ADC2
+#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_1
+#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
+#define MAX7456_SPI_INSTANCE SPI2
+#define BEEPER_INVERTED
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SCALE 120
+#define FLASH_SPI_INSTANCE SPI2
+#define USE_SPI_GYRO
+#define GYRO_1_SPI_INSTANCE SPI1
+#define GYRO_1_ALIGN CW270_DEG
\ No newline at end of file
diff --git a/src/config/HGLRCF745/config.h b/src/config/HGLRCF745/config.h
index 11de7093af..2e430bb82f 100644
--- a/src/config/HGLRCF745/config.h
+++ b/src/config/HGLRCF745/config.h
@@ -135,7 +135,7 @@
#define GYRO_1_ALIGN CW90_DEG
#define USE_SPI_GYRO
#define GYRO_2_SPI_INSTANCE SPI1
-#define GYRO_2_ALIGN DEFAULT
+#define GYRO_2_ALIGN CW0_DEG
#define USE_I2C1_PULLUP OFF
//TODO #define I2C1_OVERCLOCK ON
#define USE_I2C2_PULLUP OFF
diff --git a/src/config/JHEF405/config.h b/src/config/JHEF405/config.h
index b2429719d2..a12a681e8c 100644
--- a/src/config/JHEF405/config.h
+++ b/src/config/JHEF405/config.h
@@ -30,6 +30,8 @@
#define USE_GYRO_SPI_MPU6000
#define USE_ACC
#define USE_ACC_SPI_MPU6000
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
#define USE_MAX7456
#define BEEPER_PIN PB4
diff --git a/src/config/MAMBAF405US_I2C/config.h b/src/config/MAMBAF405US_I2C/config.h
index 8ae31a0a83..089b1c71d2 100644
--- a/src/config/MAMBAF405US_I2C/config.h
+++ b/src/config/MAMBAF405US_I2C/config.h
@@ -111,6 +111,7 @@
#define ADC3_DMA_OPT 0
#define INVERTER_PIN_UART1 PC0
+#define ESCSERIAL_PIN PB9
#define PINIO1_PIN PB0
#define USE_BARO
diff --git a/src/config/MAMBAG4/config.h b/src/config/MAMBAG4/config.h
index c16313a965..833adfb0ed 100644
--- a/src/config/MAMBAG4/config.h
+++ b/src/config/MAMBAG4/config.h
@@ -64,31 +64,36 @@
#define UART1_TX_PIN PA9
#define UART2_RX_PIN PB4
#define UART2_TX_PIN PB3
-#define UART3_RX_PIN PB11
-#define UART3_TX_PIN PB10
+#define UART3_TX_PIN PB9
#define UART4_RX_PIN PC11
#define UART4_TX_PIN PC10
-#define SOFTSERIAL1_TX_PIN PB9
+// alternative for UART5 ESC TLM
+#define LPUART1_RX_PIN PB11
#define TIMER_PIN_MAPPING \
TIMER_PIN_MAP( 0, MOTOR1_PIN, 1, 1) \
TIMER_PIN_MAP( 1, MOTOR2_PIN, 1, 2) \
TIMER_PIN_MAP( 2, MOTOR3_PIN, 1, 3) \
TIMER_PIN_MAP( 3, MOTOR4_PIN, 1, 4) \
- TIMER_PIN_MAP( 4, LED_STRIP_PIN, 3, 9)
+ TIMER_PIN_MAP( 4, LED_STRIP_PIN, 3, 12)
-#define ADC1_DMA_OPT 1
-#define TIMUP2_DMA_OPT 0
-#define TIMUP8_DMA_OPT 0
+#define ADC1_DMA_OPT 10
+#define ADC2_DMA_OPT 11
+#define SPI_RX_DMA_OPT 6
+#define SPI_TX_DMA_OPT 7
+#define SPI_RX_DMA_OPT 8
+#define SPI_TX_DMA_OPT 9
+
+#define ADC_INSTANCE ADC2
#define BARO_I2C_INSTANCE (I2CDEV_1)
#define BEEPER_INVERTED
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
-#define DEFAULT_PID_PROCESS_DENOM 2
+#define DEFAULT_PID_PROCESS_DENOM 2
#define MAX7456_SPI_INSTANCE SPI2
#define FLASH_SPI_INSTANCE SPI2
#define USE_SPI_GYRO
diff --git a/src/config/NBD_CRICKETF7/config.h b/src/config/NBD_CRICKETF7/config.h
index f29115695f..b2bd6b34f9 100644
--- a/src/config/NBD_CRICKETF7/config.h
+++ b/src/config/NBD_CRICKETF7/config.h
@@ -26,6 +26,11 @@
#define BOARD_NAME NBD_CRICKETF7
#define MANUFACTURER_ID NEBD
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+
#define BEEPER_PIN PC15
#define MOTOR1_PIN PB4
#define MOTOR2_PIN PB1
diff --git a/src/config/NBD_CRICKETF7V2/config.h b/src/config/NBD_CRICKETF7V2/config.h
index 5579a89308..4982bda5f7 100644
--- a/src/config/NBD_CRICKETF7V2/config.h
+++ b/src/config/NBD_CRICKETF7V2/config.h
@@ -26,6 +26,10 @@
#define BOARD_NAME NBD_CRICKETF7V2
#define MANUFACTURER_ID NEBD
+#define USE_ACC
+#define USE_GYRO
+#define USE_ACCGYRO_BMI270
+
#define BEEPER_PIN PC15
#define MOTOR1_PIN PB4
#define MOTOR2_PIN PB1
diff --git a/src/config/NBD_INFINITYF4/config.h b/src/config/NBD_INFINITYF4/config.h
index caac5aba5a..0a74de8f07 100644
--- a/src/config/NBD_INFINITYF4/config.h
+++ b/src/config/NBD_INFINITYF4/config.h
@@ -26,6 +26,14 @@
#define BOARD_NAME NBD_INFINITYF4
#define MANUFACTURER_ID NEBD
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+
#define BEEPER_PIN PB6
#define MOTOR1_PIN PB1
#define MOTOR2_PIN PB0
diff --git a/src/config/NEUTRONRCF435/config.h b/src/config/NEUTRONRCF435/config.h
index 6497892d56..bc6ed3fc8d 100644
--- a/src/config/NEUTRONRCF435/config.h
+++ b/src/config/NEUTRONRCF435/config.h
@@ -19,51 +19,107 @@
* If not, see .
*/
-#define FC_TARGET_MCU AT32F435G
+#pragma once
-#define BOARD_NAME NEUTRONRCF435
-#define MANUFACTURER_ID NERC
+#define FC_TARGET_MCU AT32F435G
-#define LED0_PIN PC4
+#define BOARD_NAME NEUTRONRCF435
+#define MANUFACTURER_ID NERC
-#define USE_GYRO
#define USE_ACC
+#define USE_GYRO
#define USE_ACCGYRO_BMI270
-#define GYRO_1_CS_PIN PA15
-#define GYRO_1_SPI_INSTANCE SPI1
-#define GYRO_1_ALIGN CW270_DEG
+
+#define GYRO_1_CS_PIN PA15
+#define GYRO_1_SPI_INSTANCE SPI1
+#define GYRO_1_ALIGN CW270_DEG
// MPU6000 interrupts
#define USE_EXTI
#define USE_GYRO_EXTI
-#define GYRO_1_EXTI_PIN PB8
+#define GYRO_1_EXTI_PIN PB8
-#define SPI1_SCK_PIN PA5
-#define SPI2_SCK_PIN PB13
-#define SPI3_SCK_PIN PB3
-#define SPI1_SDI_PIN PA6
-#define SPI2_SDI_PIN PB14
-#define SPI3_SDI_PIN PB4
-#define SPI1_SDO_PIN PA7
-#define SPI2_SDO_PIN PB15
-#define SPI3_SDO_PIN PB5
+#define SPI1_SCK_PIN PA5
+#define SPI2_SCK_PIN PB13
+#define SPI3_SCK_PIN PB3
+#define SPI1_SDI_PIN PA6
+#define SPI2_SDI_PIN PB14
+#define SPI3_SDI_PIN PB4
+#define SPI1_SDO_PIN PA7
+#define SPI2_SDO_PIN PB15
+#define SPI3_SDO_PIN PB5
+
+#define BEEPER_PIN PC15
+
+#define MOTOR1_PIN PC9
+#define MOTOR2_PIN PC8
+#define MOTOR3_PIN PC7
+#define MOTOR4_PIN PC6
+
+#define SERVO1_PIN PB6
+#define SERVO2_PIN PB7
+#define SERVO3_PIN PB1
+#define SERVO4_PIN PB0
+
+#define RX_PPM_PIN PA3
+
+#define LED0_PIN PC4
+#define LED_STRIP_PIN PA1
+
+#define UART1_TX_PIN PA9
+#define UART2_TX_PIN PA2
+#define UART3_TX_PIN PB10
+#define UART4_TX_PIN PC10
+#define UART5_TX_PIN PC12
+
+#define UART1_RX_PIN PA10
+#define UART2_RX_PIN PA3
+#define UART3_RX_PIN PB11
+#define UART4_RX_PIN PC11
+#define UART5_RX_PIN PD2
+
+#define I2C1_SCL_PIN PB10
+#define I2C1_SDA_PIN PB11
+
+//TODO resource RX_BIND 1 @01
+#define RX_BIND_PLUG_PIN PO15
+
+#define CAMERA_CONTROL_PIN PA0
+
+#define ADC_VBAT_PIN PC2
+#define ADC_CURR_PIN PC1
+#define ADC1_DMA_OPT 11
#define USE_FLASH
#define USE_FLASH_W25Q128FV
-#define FLASH_CS_PIN PB9
-#define FLASH_SPI_INSTANCE SPI3
+#define FLASH_CS_PIN PB9
+#define FLASH_SPI_INSTANCE SPI3
-#define I2C2_SCL_PIN PB10
-#define I2C2_SDA_PIN PB11
+#define I2C2_SCL_PIN PB10
+#define I2C2_SDA_PIN PB11
-#define BARO_I2C_INSTANCE I2CDEV_2
+#define BARO_I2C_INSTANCE I2CDEV_2
#define USE_BARO
#define USE_BARO_BMP280
#define USE_BARO_DPS310
#define USE_MAX7456
-#define MAX7456_SPI_INSTANCE SPI2
-#define MAX7456_SPI_CS_PIN PB12
+#define MAX7456_SPI_INSTANCE SPI2
+#define MAX7456_SPI_CS_PIN PB12
-#define ADC1_DMA_OPT 1
+#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 0, CAMERA_CONTROL_PIN, 2, 13 ) \
+ TIMER_PIN_MAP( 1, LED_STRIP_PIN, 2, 7 ) \
+ TIMER_PIN_MAP( 2, UART2_RX_PIN, 1, 6 ) \
+ TIMER_PIN_MAP( 3, SERVO1_PIN, 1, 11 ) \
+ TIMER_PIN_MAP( 4, SERVO2_PIN, 1, 10 ) \
+ TIMER_PIN_MAP( 5, SERVO3_PIN, 2, 8 ) \
+ TIMER_PIN_MAP( 6, SERVO4_PIN, 2, 9 ) \
+ TIMER_PIN_MAP( 7, MOTOR1_PIN, 2, 0 ) \
+ TIMER_PIN_MAP( 8, MOTOR2_PIN, 2, 2 ) \
+ TIMER_PIN_MAP( 9, MOTOR3_PIN, 1, 1 ) \
+ TIMER_PIN_MAP(10, MOTOR4_PIN, 1, 3 )
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SCALE 210
+#define DEFAULT_CURRENT_METER_SCALE 400
diff --git a/src/config/OMNIBUSF4NANO/config.h b/src/config/OMNIBUSF4NANO/config.h
new file mode 100644
index 0000000000..0a44879fbe
--- /dev/null
+++ b/src/config/OMNIBUSF4NANO/config.h
@@ -0,0 +1,126 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see .
+ */
+
+#pragma once
+
+#define FC_TARGET_MCU STM32F405
+
+#define BOARD_NAME OMNIBUSF4NANO
+#define MANUFACTURER_ID AIRB
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ADC
+#define USE_BARO
+#define USE_BARO_SPI_BMP280
+#define USE_GYRO
+#define USE_SPI_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_MAX7456
+
+#define BEEPER_PIN PB4
+#define MOTOR1_PIN PB0
+#define MOTOR2_PIN PB1
+#define MOTOR3_PIN PA3
+#define MOTOR4_PIN PA2
+#define MOTOR5_PIN PA1
+#define MOTOR6_PIN PA8
+#define RX_PPM_PIN PB8
+#define RX_PWM1_PIN PB8
+#define RX_PWM2_PIN PB9
+#define RX_PWM3_PIN PC6
+#define RX_PWM4_PIN PC7
+#define RX_PWM5_PIN PC8
+#define RX_PWM6_PIN PC9
+#define SONAR_TRIGGER_PIN PA1
+#define SONAR_ECHO_PIN PA8
+#define LED_STRIP_PIN PB6
+#define UART1_TX_PIN PA9
+#define UART3_TX_PIN PB10
+#define UART6_TX_PIN PC6
+#define UART1_RX_PIN PA10
+#define UART3_RX_PIN PB11
+#define UART6_RX_PIN PC7
+#define INVERTER_PIN_UART3 PC9
+#define INVERTER_PIN_UART6 PC8
+#define LED0_PIN PB5
+#define SPI1_SCK_PIN PA5
+#define SPI2_SCK_PIN PB13
+#define SPI3_SCK_PIN PC10
+#define SPI1_SDI_PIN PA6
+#define SPI2_SDI_PIN PB14
+#define SPI3_SDI_PIN PC11
+#define SPI1_SDO_PIN PA7
+#define SPI2_SDO_PIN PB15
+#define SPI3_SDO_PIN PC12
+#define ADC_VBAT_PIN PC2
+#define ADC_RSSI_PIN PA0
+#define ADC_CURR_PIN PC1
+#define BARO_CS_PIN PB3
+#define FLASH_CS_PIN PB12
+#define MAX7456_SPI_CS_PIN PA15
+#define GYRO_1_EXTI_PIN PC4
+#define GYRO_1_CS_PIN PA4
+#define USB_DETECT_PIN PC5
+
+#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 0, PB8 , 2, -1) \
+ TIMER_PIN_MAP( 1, PB9 , 1, -1) \
+ TIMER_PIN_MAP( 2, PC6 , 2, 0) \
+ TIMER_PIN_MAP( 3, PC7 , 2, 0) \
+ TIMER_PIN_MAP( 4, PC8 , 2, 0) \
+ TIMER_PIN_MAP( 5, PC9 , 2, 0) \
+ TIMER_PIN_MAP( 6, PB0 , 2, 0) \
+ TIMER_PIN_MAP( 7, PB1 , 2, 0) \
+ TIMER_PIN_MAP( 8, PA3 , 1, 1) \
+ TIMER_PIN_MAP( 9, PA2 , 1, 0) \
+ TIMER_PIN_MAP(10, PA1 , 2, 0) \
+ TIMER_PIN_MAP(11, PB6 , 1, 0) \
+ TIMER_PIN_MAP(12, PA8 , 1, 0) \
+ TIMER_PIN_MAP(13, PA9 , 1, 0) \
+ TIMER_PIN_MAP(14, PA10, 1, 0)
+
+
+#define ADC2_DMA_OPT 1
+#define SPI2_TX_DMA_OPT 0
+
+#define ADC_INSTANCE ADC2
+
+#define BEEPER_INVERTED
+
+#define DASHBOARD_I2C_INSTANCE (I2CDEV_2)
+#define MAG_I2C_INSTANCE (I2CDEV_2)
+
+#define GYRO_1_SPI_INSTANCE SPI1
+#define FLASH_SPI_INSTANCE SPI2
+#define BARO_SPI_INSTANCE SPI3
+#define MAX7456_SPI_INSTANCE SPI3
+
+#define SYSTEM_HSE_MHZ 8
+
+#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
+#define DEFAULT_DSHOT_BURST DSHOT_DMAR_ON
+
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+
+#define GYRO_1_ALIGN CW270_DEG
diff --git a/src/config/SKYSTARSH7HD/config.h b/src/config/SKYSTARSH7HD/config.h
index d14ab0dae2..94783700ad 100644
--- a/src/config/SKYSTARSH7HD/config.h
+++ b/src/config/SKYSTARSH7HD/config.h
@@ -30,7 +30,7 @@
#define USE_ACC
#define USE_ACCGYRO_BMI270
#define USE_BARO
-#define USE_BARO_BMP280
+#define USE_BARO_SPI_BMP280
#define USE_FLASH
#define USE_FLASH_W25Q128FV
#define USE_MAX7456
@@ -129,7 +129,7 @@
#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_BOTH
#define MAG_I2C_INSTANCE (I2CDEV_1)
-#define BARO_I2C_INSTANCE (I2CDEV_2)
+#define BARO_SPI_INSTANCE SPI2
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
diff --git a/src/config/TMOTORH743/config.h b/src/config/TMOTORH743/config.h
new file mode 100644
index 0000000000..67cfd27fdc
--- /dev/null
+++ b/src/config/TMOTORH743/config.h
@@ -0,0 +1,146 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see .
+ */
+
+#pragma once
+
+#define FC_TARGET_MCU STM32H743
+
+#define BOARD_NAME TMOTORH743
+#define MANUFACTURER_ID TMTR
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_ICM42688P
+#define USE_FLASH
+#define USE_FLASH_M25P16
+#define USE_FLASH_W25N01G
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_MAX7456
+
+
+
+#define BEEPER_PIN PE3
+#define MOTOR1_PIN PA0
+#define MOTOR2_PIN PA1
+#define MOTOR3_PIN PA2
+#define MOTOR4_PIN PA3
+#define MOTOR5_PIN PB0
+#define MOTOR6_PIN PB1
+#define MOTOR7_PIN PC8
+#define MOTOR8_PIN PC9
+#define LED_STRIP_PIN PA8
+#define UART1_TX_PIN PA9
+#define UART2_TX_PIN PD5
+#define UART3_TX_PIN PD8
+#define UART4_TX_PIN PD1
+#define UART5_TX_PIN PC12
+#define UART6_TX_PIN PC6
+#define UART7_TX_PIN PE8
+#define UART8_TX_PIN PE1
+#define UART1_RX_PIN PA10
+#define UART2_RX_PIN PD6
+#define UART3_RX_PIN PD9
+#define UART4_RX_PIN PD0
+#define UART5_RX_PIN PD2
+#define UART6_RX_PIN PC7
+#define UART7_RX_PIN PE7
+#define UART8_RX_PIN PE0
+#define I2C1_SCL_PIN PB6
+#define I2C2_SCL_PIN PB10
+#define I2C1_SDA_PIN PB7
+#define I2C2_SDA_PIN PB11
+#define LED0_PIN PE5
+#define LED1_PIN PE4
+#define SPI1_SCK_PIN PA5
+#define SPI2_SCK_PIN PB13
+#define SPI3_SCK_PIN PC10
+#define SPI4_SCK_PIN PE12
+#define SPI6_SCK_PIN PB3
+#define SPI1_SDI_PIN PA6
+#define SPI2_SDI_PIN PB14
+#define SPI3_SDI_PIN PC11
+#define SPI4_SDI_PIN PE13
+#define SPI6_SDI_PIN PB4
+#define SPI1_SDO_PIN PA7
+#define SPI2_SDO_PIN PB15
+#define SPI3_SDO_PIN PB2
+#define SPI4_SDO_PIN PE14
+#define SPI6_SDO_PIN PB5
+#define ADC_VBAT_PIN PC1
+#define ADC_RSSI_PIN PC5
+#define ADC_CURR_PIN PC3
+#define ADC_EXTERNAL1_PIN PC0
+#define PINIO1_PIN PC14
+#define PINIO2_PIN PD15
+#define PINIO3_PIN PE2
+#define FLASH_CS_PIN PA15
+#define MAX7456_SPI_CS_PIN PB12
+#define GYRO_1_EXTI_PIN PC4
+#define GYRO_2_EXTI_PIN PE15
+#define GYRO_1_CS_PIN PA4
+#define GYRO_2_CS_PIN PE11
+#define USB_DETECT_PIN PE6
+
+#define TIMER_PIN_MAPPING TIMER_PIN_MAP( 0, PA3, 1, 3 ) \
+ TIMER_PIN_MAP( 1, PB0, 2, 4 ) \
+ TIMER_PIN_MAP( 2, PB1, 2, 5 ) \
+ TIMER_PIN_MAP( 3, PB4, 1, 0 ) \
+ TIMER_PIN_MAP( 4, PB5, 1, 0 ) \
+ TIMER_PIN_MAP( 5, PB6, 2, 0 ) \
+ TIMER_PIN_MAP( 6, PB7, 2, 0 ) \
+ TIMER_PIN_MAP( 7, PC8, 2, 6 ) \
+ TIMER_PIN_MAP( 8, PC9, 2, 7 ) \
+ TIMER_PIN_MAP( 9, PA8, 1, 14 ) \
+ TIMER_PIN_MAP(10, PB3, 1, 0 ) \
+ TIMER_PIN_MAP(11, PA0, 1, 0 ) \
+ TIMER_PIN_MAP(12, PA1, 1, 1 ) \
+ TIMER_PIN_MAP(13, PA2, 1, 2 )
+
+
+#define ADC1_DMA_OPT 8
+#define ADC3_DMA_OPT 9
+// #define TIMUP1_DMA_OPT 0
+// #define TIMUP2_DMA_OPT 0
+// #define TIMUP3_DMA_OPT 0
+// #define TIMUP8_DMA_OPT 0
+
+#define DEFAULT_GYRO_TO_USE GYRO_CONFIG_USE_GYRO_1
+#define MAG_I2C_INSTANCE (I2CDEV_1)
+#define BARO_I2C_INSTANCE (I2CDEV_2)
+#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
+#define MAX7456_SPI_INSTANCE SPI3
+#define BEEPER_INVERTED
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SCALE 110
+#define DEFAULT_CURRENT_METER_SCALE 200
+#define PINIO1_BOX 40
+#define PINIO2_BOX 41
+#define FLASH_SPI_INSTANCE SPI3
+#define USE_SPI_GYRO
+#define GYRO_1_SPI_INSTANCE SPI1
+#define GYRO_1_ALIGN CW90FLIP
+#define GYRO_2_SPI_INSTANCE SPI4
+#define GYRO_2_ALIGN CW0FLIP
\ No newline at end of file
diff --git a/src/config/VGOODF722DUAL/config.h b/src/config/VGOODF722DUAL/config.h
index 37aa69a057..4097df9c8e 100644
--- a/src/config/VGOODF722DUAL/config.h
+++ b/src/config/VGOODF722DUAL/config.h
@@ -26,6 +26,15 @@
#define BOARD_NAME VGOODF722DUAL
#define MANUFACTURER_ID VGRC
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+
#define BEEPER_PIN PC13
#define MOTOR1_PIN PB4
#define MOTOR2_PIN PB5
@@ -88,7 +97,6 @@
#define ADC1_DMA_OPT 1
#define MAG_I2C_INSTANCE (I2CDEV_2)
-#define USE_BARO
#define BARO_I2C_INSTANCE (I2CDEV_1)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
diff --git a/src/config/VGOODRCF4/config.h b/src/config/VGOODRCF4/config.h
index 7b3a507bf5..601ef42468 100644
--- a/src/config/VGOODRCF4/config.h
+++ b/src/config/VGOODRCF4/config.h
@@ -30,6 +30,10 @@
#define USE_GYRO_SPI_MPU6000
#define USE_ACC
#define USE_ACC_SPI_MPU6000
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_FLASH
+#define USE_FLASH_W25Q128FV
#define USE_MAX7456
#define BEEPER_PIN PC13
@@ -96,7 +100,6 @@
#define ADC1_DMA_OPT 0
#define MAG_I2C_INSTANCE (I2CDEV_1)
-#define USE_BARO
#define BARO_I2C_INSTANCE (I2CDEV_2)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
@@ -113,4 +116,4 @@
#define GYRO_1_ALIGN CW270_DEG
#define GYRO_1_ALIGN_YAW 2700
#define GYRO_2_SPI_INSTANCE SPI3
-#define GYRO_2_ALIGN DEFAULT
+#define GYRO_2_ALIGN CW0_DEG