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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/README.md
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+# SULILGH7P1/P2 Flight Controller
+
+# This firmware is compatible with SULILGH7-P1 and SULILGH7-P2.
+
+This is the open-source hardware I have released, and you can find more details at the following link: https://oshwhub.com/shuyedeye/p1-flight-control.
+
+
+
+
+## Features:
+- Separate flight control core design.
+- MCU
+ STM32H743IIK6 32-bit processor running at 480MHz
+ 2MB Flash
+ 1MB RAM
+- IO MCU
+ STM32F103
+- Sensors
+- IMU:
+ P2:Internal Vibration Isolation for IMUs
+ P2:IMU constant temperature heating(1 W heating power).
+ With Triple Synced IMUs, BalancedGyro technology, low noise and more shock-resistant:
+ IMU1-BMI088(With vibration isolation)
+ IMU2-ICM42688-P(With vibration isolation)
+ IMU3-ICM20689(No vibration isolation)
+- Baro:
+ Two barometers:Baro1-BMP581 , Baro2-ICP20100
+ Magnetometer: Builtin IST8310 magnetometer
+
+
+## UART Mapping
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+| Name | Function | MCU PINS | DMA |
+| :-----: | :------: | :------: | :------:|
+| SERIAL0 | OTG1 | USB |
+| SERIAL1 | Telem1 | USART2 |DMA Enabled |
+| SERIAL2 | Telem2 | USART3 |DMA Enabled |
+| SERIAL3 | GPS1 | USART1 |DMA Enabled |
+| SERIAL4 | GPS2 | UART4 |DMA Enabled |
+| SERIAL5 | RC | UART8 |DMA Enabled |
+| SERIAL7 |FMU DEBUG | UART7 |DMA Enabled |
+| SERIAL8 | OTG-SLCAN| USB |
+
+## RC Input
+The RCIN pin, which by default is mapped to a timer input, can be used for all ArduPilot supported receiver protocols, except CRSF/ELRS and SRXL2 which require a true UART connection. However, FPort, when connected in this manner, will only provide RC without telemetry.
+To allow CRSF and embedded telemetry available in Fport, CRSF, and SRXL2 receivers, a full UART, such as SERIAL5 (UART8) would need to be used for receiver connections. Below are setups using Serial5.
+
+* :ref:`SERIAL5_PROTOCOL` should be set to “23”.
+* FPort would require ：ref：'SERIAL5_OPTIONS' Set it to “15”。
+* CRSF would require :ref:`SERIAL5_OPTIONS` set to “0”.
+* SRXL2 would require ：ref：'SERIAL5_OPTIONS' set to “1”. And only connect the TX pin.
+
+* PPM/SBUS The remote control signal should be connected to the “RC IN” pin, at one side of the servo channels.This signal pin supports two types of remote control signal inputs, SBUS and PPM signals.
+
+Any UART can also be used for RC system connections in ArduPilot and is compatible with all protocols except PPM. See :ref:`Radio Control Systems ` for details.
+
+## PWM Output
+The SULILLGH7-P1/P2 flight controller supports up to 16 PWM outputs.
+First 8 outputs (labelled 1 to 8) are controlled by a dedicated STM32F103 IO controller.
+The remaining 8 outputs (labelled 9 to 16) are the "auxiliary" outputs. These are directly attached to the STM32H753 FMU controller.
+All 16 outputs support normal PWM output formats. All 16 outputs support DShot, except 15 and 16.
+
+The 8 IO PWM outputs are in 4 groups:
+- Outputs 1 and 2 in group1
+- Outputs 3 and 4 in group2
+- Outputs 5, 6, 7 and 8 in group3
+
+The 8 FMU PWM outputs are in 4 groups:
+- Outputs 1, 2, 3 and 4 in group1
+- Outputs 5 and 6 in group2
+- Outputs 7 and 8 in group3
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.
+
+## GPIO
+All PWM outputs can be used as GPIOs (relays, camera, RPM etc). To use them you need to set the output’s SERVOx_FUNCTION to -1. The numbering of the GPIOs for PIN variables in ArduPilot is:
+
+
+
+ | IO Pins |
+ |
+ FMU Pins |
+
+ | Name | Value | Option | | Name | Value | Option |
+ | M1 | 101 | MainOut1 | | M9 | 50 | AuxOut1 |
+ | M2 | 102 | MainOut2 | | M10 | 51 | AuxOut2 |
+ | M3 | 103 | MainOut3 | | M11 | 52 | AuxOut3 |
+ | M4 | 104 | MainOut4 | | M12 | 53 | AuxOut4 |
+ | M5 | 105 | MainOut5 | | M13 | 54 | AuxOut5 |
+ | M6 | 106 | MainOut6 | | M14 | 55 | AuxOut6 |
+ | M7 | 107 | MainOut7 | | M15 | 56 | |
+ | M8 | 108 | MainOut8 | | M16 | 57 | |
+
+
+## Battery Monitoring
+Two DroneCAN power monitor interfaces have been configured
+These are set by default in the firmware and shouldn't need to be adjusted.
+
+## Compass
+The P1/P2 flight controllers have an integrated IST8310 high-precision magnetometer.
+
+## Analog inputs
+The P1/P2 flight controller has 2 analog inputs.
+- ADC Pin12 -> ADC 6.6V Sense
+- ADC Pin13 -> ADC 3.3V Sense
+- RSSI input pin = 103
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of xxxxxx.apj firmware files with any ArduPilot compatible ground station.
+
+Firmware for these boards can be found [here](https://firmware.ardupilot.org/) in sub-folders labeled “SULIGH7-P1-P2”.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/defaults.parm
new file mode 100644
index 00000000000000..83cd93a214a07c
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/defaults.parm
@@ -0,0 +1,5 @@
+CAN_P1_DRIVER 1
+CAN_P2_DRIVER 1
+
+BATT_MONITOR 8
+GPS1_TYPE 9
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef-bl.dat
new file mode 100644
index 00000000000000..007d8e7eddbe3f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef-bl.dat
@@ -0,0 +1,105 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the SULILGH7_P1 hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_SULILGH7-P1-P2
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+MCU_CLOCKRATE_MHZ 480
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 USART2 USART3
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PI9 ICM20689_CS CS
+PH5 BMP_581_CS CS
+PI4 BMI088_A_CS CS
+PI8 BMI088_G_CS CS
+PH15 ICM_42688_CS CS
+PG7 FRAM_CS CS
+PC2 EXT1_CS CS
+PC3 EXT2_CS CS
+
+# DEBUG
+PE8 UART7_TX UART7
+PE7 UART7_RX UART7
+
+# telem1
+PD5 USART2_TX USART2
+PA3 USART2_RX USART2
+PD4 USART2_RTS USART2
+PD3 USART2_CTS USART2
+
+# telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD12 USART3_RTS USART3
+PD11 USART3_CTS USART3
+
+# LEDs
+PE3 LED_RED OUTPUT OPENDRAIN HIGH # red
+PE4 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # blue
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # green
+
+define HAL_STORAGE_SIZE 16384
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
+
+# support flashing from SD card:
+# power enable pins
+PG3 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+PG6 VDD_3V3_IMU_EN OUTPUT HIGH
+
+# 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
+PD6 SDMMC2_CK SDMMC2
+PD7 SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4 SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define BOOTLOADER_DEBUG SD7
+
+define AP_BOOTLOADER_FLASH_FROM_SD_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat
new file mode 100644
index 00000000000000..48e80720f19f60
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/SULILGH7-P1-P2/hwdef.dat
@@ -0,0 +1,307 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the SULILGH7_P1 hardware
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_SULILGH7-P1-P2
+
+FLASH_RESERVE_START_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# to be compatible with the px4 bootloader we need
+# to use a different RAM_MAP
+env USE_ALT_RAM_MAP 1
+
+MCU_CLOCKRATE_MHZ 480
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 UART8 UART7 OTG2
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# telem1
+PD5 USART2_TX USART2
+PA3 USART2_RX USART2
+PD4 USART2_RTS USART2
+PD3 USART2_CTS USART2
+
+# telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD12 USART3_RTS USART3
+PD11 USART3_CTS USART3
+
+# GPS1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# GPS2
+PH13 UART4_TX UART4
+PH14 UART4_RX UART4
+
+# USART6 is for IOMCU
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+IOMCU_UART USART6
+
+# DEBUG
+PE8 UART7_TX UART7
+PE7 UART7_RX UART7
+
+# SBUS/CRSF
+PE1 UART8_TX UART8
+PE0 UART8_RX UART8
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
+
+# Ethernet
+PC1 ETH_MDC ETH1
+PA2 ETH_MDIO ETH1
+PC4 ETH_RMII_RXD0 ETH1
+PC5 ETH_RMII_RXD1 ETH1
+PG13 ETH_RMII_TXD0 ETH1
+PG12 ETH_RMII_TXD1 ETH1
+PB11 ETH_RMII_TX_EN ETH1
+PA7 ETH_RMII_CRS_DV ETH1
+PA1 ETH_RMII_REF_CLK ETH1
+
+define BOARD_PHY_ID MII_LAN8742A_ID
+define BOARD_PHY_RMII
+
+# ADC
+PA0 SCALED1_V3V3 ADC1 SCALE(2)
+PA4 SCALED2_V3V3 ADC1 SCALE(2)
+PB0 SCALED3_V3V3 ADC1 SCALE(2)
+PC0 SCALED4_V3V3 ADC1 SCALE(2)
+PB1 VDD_5V_SENS ADC1 SCALE(2.02)
+
+PF13 ADC1_6V6 ADC2 SCALE(2)
+PF12 ADC1_3V3 ADC1 SCALE(1)
+
+# SPI1 - IMU3 ICM20689
+PA5 SPI1_SCK SPI1
+PB5 SPI1_MOSI SPI1
+PG9 SPI1_MISO SPI1
+PI9 ICM20689_CS CS
+
+# SPI2 -BARO1 BMP581
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+PH5 BMP_581_CS CS
+PA10 DRDY6_BMP581 INPUT
+
+# SPI3 -IMU1 BMI088
+PB2 SPI3_MOSI SPI3
+PC10 SPI3_SCK SPI3
+PC11 SPI3_MISO SPI3
+PI4 BMI088_A_CS CS
+PI8 BMI088_G_CS CS
+DRDY1_BMI088_ACC1 INPUT
+DRDY2_BMI088_ACC2 INPUT
+DRDY3_BMI088_GYRO1 INPUT
+DRDY4_BMI088_GYRO2 INPUT
+
+# SPI4 - IMU2
+PE12 SPI4_SCK SPI4
+PE13 SPI4_MISO SPI4
+PE14 SPI4_MOSI SPI4
+PH15 ICM_42688_CS CS
+PF3 DRDY5_ICM_42688 INPUT
+
+# SPI5 - FRAM
+PF7 SPI5_SCK SPI5
+PH7 SPI5_MISO SPI5
+PF11 SPI5_MOSI SPI5
+PG7 FRAM_CS CS
+
+# SPI6 - external1
+PB3 SPI6_SCK SPI6
+PA6 SPI6_MISO SPI6
+PG14 SPI6_MOSI SPI6
+PC2 EXT1_CS CS
+PC3 EXT2_CS CS
+
+# PWM output pins
+PI0 TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR
+PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
+PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR
+PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+PH6 TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
+PH9 TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
+
+# PWM output for buzzer
+PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+# control for silent (no output) for CAN
+PC12 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(70)
+PG2 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW GPIO(71)
+
+# I2C buses
+
+# I2C1, GPS+MAG
+PB9 I2C1_SDA I2C1
+PB8 I2C1_SCL I2C1
+
+# I2C2, GPS2+MAG
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C3
+PA8 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4 (ICP20100)
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C4 I2C1 I2C2
+define HAL_I2C_INTERNAL_MASK 0
+
+# power enable pins
+PG3 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+PG6 VDD_3V3_IMU_EN OUTPUT HIGH
+PE6 VDD_3V3_IMU2_EN OUTPUT HIGH
+PD15 VDD_I2C_BATT1_EN OUTPUT HIGH
+PF10 VDD_I2C_CAN_EN OUTPUT HIGH
+
+# start peripheral power on
+PE2 HIPOWER_EN OUTPUT HIGH
+PD2 PERIPH_EN OUTPUT HIGH
+
+# power sensing
+PA15 PERIPH_OC INPUT PULLUP
+PE10 HIPOWER_OC INPUT PULLUP
+
+#Not in use, but reserved
+PB10 VDD_BRICKA_nVALID INPUT PULLUP
+PE15 VDD_BRICKB_nVALID INPUT PULLUP
+PE11 VDD_BRICKC_nVALID INPUT PULLUP
+
+# microSD support
+PD6 SDMMC2_CK SDMMC2
+PD7 SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4 SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
+
+# ID pins
+PG0 HW_VER_REV_DRIVE OUTPUT LOW
+
+# safety
+PD10 LED_SAFETY OUTPUT
+PF5 SAFETY_IN INPUT PULLDOWN
+
+# heater
+PG15 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+
+# Setup the IMU heater
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+
+# LED
+PE3 LED_R1 OUTPUT OPENDRAIN HIGH GPIO(0)
+PE4 LED_G1 OUTPUT OPENDRAIN LOW GPIO(1)
+PE5 LED_B1 OUTPUT OPENDRAIN HIGH GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+# use pixracer style 3-LED indicators
+define HAL_HAVE_PIXRACER_LED
+
+define HAL_GPIO_LED_ON 0
+
+# compass
+#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_SKIP_AUTO_INTERNAL_I2C_PROBE
+define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define AP_COMPASS_IST8310_DEFAULT_ROTATION ROTATION_ROLL_180_YAW_90
+COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_90_YAW_90
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90
+
+# IMU devices for SULILGH7_P1
+SPIDEV bmi088_a SPI3 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ
+SPIDEV bmi088_g SPI3 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ
+SPIDEV icm42688 SPI4 DEVID2 ICM_42688_CS MODE3 2*MHZ 8*MHZ
+SPIDEV icm20689 SPI1 DEVID2 ICM20689_CS MODE3 2*MHZ 8*MHZ
+SPIDEV bmp581 SPI2 DEVID1 BMP_581_CS MODE3 7.5*MHZ 12*MHZ
+
+SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ
+
+# SULILGH7_P1 3 IMUs
+IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_90
+IMU Invensense SPI:icm20689 ROTATION_PITCH_180_YAW_90
+
+define HAL_INS_HIGHRES_SAMPLE 7
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# barometers
+BARO BMP581 SPI:bmp581
+BARO ICP201XX I2C:1:0x63
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+
+DMA_PRIORITY TIM5* TIM4* SPI1* SPI2* SPI3* SDMMC* USART6* ADC* UART* USART*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1
+
+# build ABIN for flash-from-bootloader support:
+env BUILD_ABIN True
+
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin
+ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin
+
+define HAL_WITH_IO_MCU_DSHOT 1