diff --git a/src/main/target/AG3X/AG3X.nomk b/src/main/target/AG3X/AG3X.nomk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/AG3X/AG3XF4.mk b/src/main/target/AG3X/AG3XF4.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/AG3X/AG3XF7.mk b/src/main/target/AG3X/AG3XF7.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/AG3X/config.c b/src/main/target/AG3X/config.c
new file mode 100644
index 0000000000..efc7017d1e
--- /dev/null
+++ b/src/main/target/AG3X/config.c
@@ -0,0 +1,40 @@
+
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight. If not, see .
+ */
+
+#include
+#include
+
+#include
+
+#ifdef USE_TARGET_CONFIG
+
+#include "io/serial.h"
+
+#include "config_helper.h"
+
+static targetSerialPortFunction_t targetSerialPortFunction[] = {
+ { SERIAL_PORT_USART1, FUNCTION_RX_SERIAL },
+ { SERIAL_PORT_UART4, FUNCTION_ESC_SENSOR },
+ // { SERIAL_PORT_SOFTSERIAL1, FUNCTION_VTX_SMARTAUDIO },
+};
+
+void targetConfiguration(void)
+{
+ targetSerialPortFunctionConfig(targetSerialPortFunction, ARRAYLEN(targetSerialPortFunction));
+}
+#endif
diff --git a/src/main/target/AG3X/target.c b/src/main/target/AG3X/target.c
new file mode 100644
index 0000000000..e3482e5c61
--- /dev/null
+++ b/src/main/target/AG3X/target.c
@@ -0,0 +1,58 @@
+/*
+ * This is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * This software 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 .
+ */
+
+#include
+
+#include
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ // ADC1 D(2,4) D(2,0)
+ // ADC2 D(2,2) D(2,3)
+ // ADC3 D(2,0) D(2,1)
+
+ DEF_TIM(TIM1, CH1, PA8, TIM_USE_PPM, 0, 0), // PPM D(1,0)
+
+ // Motors
+ DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // MOTOR1 U(2,1) D(2,2) D(2,4)
+ DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // MOTOR2 U(1,2) D(1,7)
+ DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // MOTOR3 U(1,2) D(1,2)
+ DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0), // MOTOR4 U(1,6) D(1,3)
+
+ // More outputs
+ DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, 0, 0), // MOTOR5 U(1,6) D(1,7)
+ DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), // MOTOR6 U(2,1) D(2,7)
+ DEF_TIM(TIM12, CH1, PB14, TIM_USE_MOTOR, 0, 0), // MOTOR7 ; SS2
+ DEF_TIM(TIM12, CH2, PB15, TIM_USE_MOTOR, 0, 0), // MOTOR8
+
+ // DEF_TIM(TIM4, CH1, PB6, TIM_USE_LED, 0, 0), // LED strip XXX Collision with M4
+
+ // Backdoor timers
+ // UART1 (Collision with PPM)
+ DEF_TIM(TIM1, CH2, PA9, TIM_USE_NONE, 0, 1), // TX1 D(2,6) D(2,2) ; SS1
+ DEF_TIM(TIM1, CH3, PA10, TIM_USE_NONE, 0, 0), // RX1 D(2,6) D(2,6)
+
+ // UART2
+ DEF_TIM(TIM5, CH3, PA2, TIM_USE_LED, 0, 0), // TX2 D(1,0) ; SA port ---> LED
+ DEF_TIM(TIM9, CH2, PA3, TIM_USE_NONE, 0, 0), // RX2 ; CAMC port
+
+ // I2C2
+ DEF_TIM(TIM2, CH3, PB10, TIM_USE_NONE, 0, 0), // SCL2 D(1,1)
+ DEF_TIM(TIM2, CH4, PB11, TIM_USE_NONE, 0, 0), // SDA2 D(1,7) D(1,6)
+};
diff --git a/src/main/target/AG3X/target.h b/src/main/target/AG3X/target.h
new file mode 100644
index 0000000000..3bc0541aea
--- /dev/null
+++ b/src/main/target/AG3X/target.h
@@ -0,0 +1,169 @@
+/*
+ * This is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * This software 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 USE_TARGET_CONFIG
+
+#ifdef AG3XF4
+#define TARGET_BOARD_IDENTIFIER "AGX4"
+#define USBD_PRODUCT_STRING "Asgard32 F4"
+#endif
+
+#ifdef AG3XF7
+#define TARGET_BOARD_IDENTIFIER "AGX7"
+#define USBD_PRODUCT_STRING "Asgard32 F7"
+#endif
+
+// Note, beeper is on the LED pin
+#define LED0_PIN PC13
+
+#define BEEPER NONE
+#define BEEPER_INVERTED
+
+#define USE_ACC
+#define USE_GYRO
+
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6000
+#define MPU6000_CS_PIN PA4
+#define MPU6000_SPI_INSTANCE SPI1
+#define ACC_MPU6000_ALIGN CW0_DEG_FLIP
+#define GYRO_MPU6000_ALIGN CW0_DEG_FLIP
+
+#define USE_ACC_SPI_MPU6500
+#define USE_GYRO_SPI_MPU6500
+#define MPU6500_CS_PIN MPU6000_CS_PIN
+#define MPU6500_SPI_INSTANCE MPU6000_SPI_INSTANCE
+#define ACC_MPU6500_ALIGN CW0_DEG_FLIP
+#define GYRO_MPU6500_ALIGN CW0_DEG_FLIP
+
+#define USE_MAG
+#define USE_MAG_HMC5883
+
+#define USE_BARO
+#define USE_BARO_SPI_BMP280
+#define DEFAULT_BARO_SPI_BMP280
+#define BMP280_SPI_INSTANCE SPI2
+#define BMP280_CS_PIN PB9
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE SPI3
+#define MAX7456_SPI_CS_PIN PA15
+#define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD) // 10MHz
+#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST)
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN PB12
+#define FLASH_SPI_INSTANCE SPI2
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// Done, VBUS is set
+#define USE_VCP
+#define VBUS_SENSING_PIN PB2
+
+#define USE_UART1
+#define UART1_RX_PIN PA10
+#define UART1_TX_PIN PA9
+
+#define USE_UART2
+#define UART2_RX_PIN NONE // PA3, shared with CAMERA_CONTROL_PIN
+#define UART2_TX_PIN NONE // PA2, Labelled S/A, Used for LED strip
+
+#define USE_UART3
+#define UART3_RX_PIN PC11
+#define UART3_TX_PIN PC10
+
+#define USE_UART4
+#define UART4_RX_PIN PA1 // ESC Telemetry
+#define UART4_TX_PIN NONE // Not connected
+
+#define USE_UART5
+#define UART5_RX_PIN PD2
+#define UART5_TX_PIN PC12
+
+#define USE_UART6
+#define UART6_RX_PIN PC7
+#define UART6_TX_PIN PC6
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL1_TX_PIN NONE // PA9 for TX1
+
+#define USE_SOFTSERIAL2
+#define SOFTSERIAL2_TX_PIN NONE // PB14 for M7
+
+#define SERIAL_PORT_COUNT 9 //VCP, UART1, UART2, UART3, UART4, UART5, UART6, SOFTSERIAL x 2
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_PIN PA8 // PPM
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN PA4
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN PB12
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PC2
+#define SPI2_MOSI_PIN PC3
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN PA15
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN PB4
+#define SPI3_MOSI_PIN PB5
+
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+#define I2C_DEVICE (I2CDEV_2)
+
+#define USE_ADC
+#define CURRENT_METER_ADC_PIN PC1
+#define VBAT_ADC_PIN PC0
+#define RSSI_ADC_PIN PC4
+#define EXTERNAL1_ADC_PIN PA0
+
+#define USE_TRANSPONDER
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_HCSR04
+//#define USE_RANGEFINDER_TF
+
+#define CAMERA_CONTROL_PIN PA3
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_SOFTSERIAL | FEATURE_ESC_SENSOR)
+
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ESC
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA (0xffff & ~(BIT(13)|BIT(14)))
+#define TARGET_IO_PORTB (0xffff & ~(BIT(2)))
+#define TARGET_IO_PORTC (0xffff)
+#define TARGET_IO_PORTD BIT(2)
+
+#define USABLE_TIMER_CHANNEL_COUNT 15
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(9) | TIM_N(12))
diff --git a/src/main/target/AG3X/target.mk b/src/main/target/AG3X/target.mk
new file mode 100644
index 0000000000..7fd871549e
--- /dev/null
+++ b/src/main/target/AG3X/target.mk
@@ -0,0 +1,20 @@
+ifeq ($(TARGET), AG3XF4)
+F405_TARGETS += $(TARGET)
+else
+ifeq ($(TARGET), AG3XF7)
+F7X2RE_TARGETS += $(TARGET)
+else
+# Nothing to do for generic target
+endif
+endif
+
+FEATURES += VCP ONBOARDFLASH
+TARGET_SRC = \
+ drivers/accgyro/accgyro_mpu6500.c \
+ drivers/accgyro/accgyro_spi_mpu6000.c \
+ drivers/accgyro/accgyro_spi_mpu6500.c \
+ drivers/barometer/barometer_bmp085.c \
+ drivers/barometer/barometer_bmp280.c \
+ drivers/barometer/barometer_ms5611.c \
+ drivers/compass/compass_hmc5883l.c \
+ drivers/max7456.c