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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/README.md b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/README.md
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+# MicoAir405Mini Flight Controller
+
+The MicoAir405Mini is a flight controller designed and produced by [MicoAir Tech.](http://micoair.com/).
+
+## Features
+
+ - STM32F405 microcontroller
+ - BMI270 IMU
+ - DPS310 barometer
+ - AT7456E OSD
+ - 9V 2.5A BEC; 5V 2.5A BEC
+ - SDCard
+ - 6 UARTs
+ - 9 PWM outputs
+
+## Physical
+
+![MicoAir F405 Mini V2.1 Front View](MicoAir405Mini_FrontView.jpg)
+
+![MicoAir F405 Mini V2.1 Back View](MicoAir405Mini_BackView.jpg)
+
+
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (DMA-enabled)
+ - SERIAL2 -> UART2 (DJI - VTX, TX only is DMA Enabled)
+ - SERIAL3 -> UART3 (GPS)
+ - SERIAL4 -> UART4 (TX only is DMA Enabled)
+ - SERIAL5 -> UART5 (ESC Telemetry)
+ - SERIAL6 -> UART6 (RX6 is inverted from SBUS pin, RX only is DMA Enabled)
+
+## RC Input
+
+The default RC input is configured on the UART6_RX inverted from the SBUS pin. Other RC  protocols  should be applied at other UART port such as UART1 or UART4, and set the protocol to receive RC data: `SERIALn_PROTOCOL=23` and change SERIAL6 _Protocol to something other than '23'
+
+## OSD Support
+
+The MicoAir405Mini supports onboard OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## VTX Support
+
+The SH1.0-6P connector supports a DJI O3 Air Unit connection. Pin 1 of the connector is 9v so be careful not to connect this to a peripheral requiring 5v.
+
+## PWM Output
+
+The MicoAir405Mini supports up to 9 PWM outputs.
+
+Channels 1-8 support DShot.
+
+Channels 1-4 support bi-directional DShot.
+
+PWM outputs are grouped and every group must use the same output protocol:
+
+3, 4 are Group 1;
+
+1, 2, 5, 6 are Group 2;
+
+7, 8 are Group 3;
+
+9 is in Group 4;
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input.
+The voltage sensor can handle up to 6S LiPo batteries.
+
+The default battery parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 21.2
+ - BATT_CURR_SCALE 40.2
+
+## Compass
+
+The MicoAir405Mini does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL connector.
+
+## Mechanical
+
+ - Mounting: 20 x 20mm, Φ3.5mm
+ - Dimensions: 30 x 30 x 8 mm
+ - Weight: 6g
+
+## Ports Connector
+
+![MicoAir F405 Mini V2.1 Ports Connection](MicoAir405Mini_PortsConnection.jpg)
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favorite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the "*.apj" firmware files.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/defaults.parm
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+#BATTERY MONITOR ON
+BATT_MONITOR 4
+
+#Serial Port defaults
+SERIAL1_PROTOCOL 2
+SERIAL2_PROTOCOL 42
+SERIAL3_PROTOCOL 5
+SERIAL4_PROTOCOL 2
+SERIAL5_PROTOCOL 16
+SERIAL6_PROTOCOL 23
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/hwdef-bl.dat
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+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/hwdef-bl.dat
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+# hw definition file for processing by chibios_pins.py
+# for the MicoAir405Mini hardware
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir405Mini
+
+# crystal frequency & PPL, working at 168M
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+# chip flash size & bootloader & firmware
+FLASH_SIZE_KB 1024
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 48
+
+# LEDs
+PA8 LED_BOOTLOADER OUTPUT LOW  #blue
+PC4 LED_ACTIVITY  OUTPUT LOW  #green
+define HAL_LED_ON 0
+
+# order of UARTs and USB
+SERIAL_ORDER OTG1
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+#CS pin
+PB12 AT7456E_CS CS
+PC14 BMI270_CS  CS
+PC13 DPS310_CS  CS
+PC9  SDCARD_CS  CS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/hwdef.dat
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+++ b/libraries/AP_HAL_ChibiOS/hwdef/MicoAir405Mini/hwdef.dat
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+# hw definition file for MicoAir405Mini hardware
+
+# MCU class and specific type
+MCU STM32F4xx STM32F405xx
+
+# board ID for firmware load
+APJ_BOARD_ID AP_HW_MicoAir405Mini
+
+# crystal frequency
+OSCILLATOR_HZ 8000000
+STM32_PLLM_VALUE 8
+
+define STM32_ST_USE_TIMER 5
+define CH_CFG_ST_RESOLUTION 16
+
+# chip flash size & bootloader & firmware
+FLASH_SIZE_KB 1024
+FLASH_RESERVE_START_KB 48
+
+define HAL_STORAGE_SIZE 15360
+STORAGE_FLASH_PAGE 1
+
+# board voltage
+STM32_VDD 330U
+
+# LEDs
+PC5 LED_RED   OUTPUT LOW GPIO(0)
+PC4 LED_GREEN OUTPUT LOW GPIO(1)
+PA8 LED_BLUE  OUTPUT LOW GPIO(2)
+
+define HAL_GPIO_A_LED_PIN 0
+define HAL_GPIO_B_LED_PIN 1
+define HAL_GPIO_C_LED_PIN 2
+
+define HAL_GPIO_LED_ON 0
+define HAL_GPIO_LED_OFF 1
+define HAL_HAVE_PIXRACER_LED
+
+# only one I2C bus
+I2C_ORDER I2C1
+PB6 I2C1_SCL I2C1
+PB7 I2C1_SDA I2C1
+
+# spi1 bus for OSD
+PA5 SPI1_SCK  SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# spi2 bus for IMU
+PB13 SPI2_SCK  SPI2
+PC2  SPI2_MISO SPI2
+PC3  SPI2_MOSI SPI2
+
+# spi3 bus for SDCARD
+PC10 SPI3_SCK  SPI3
+PC11 SPI3_MISO SPI3
+PC12 SPI3_MOSI SPI3
+
+#CS pin
+PB12 AT7456E_CS CS
+PC14 BMI270_CS  CS
+PC13 DPS310_CS  CS
+PC9  SDCARD_CS  CS
+
+# analog pins
+PC0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC1 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# define default battery setup
+define HAL_BATT_VOLT_PIN 10
+define HAL_BATT_VOLT_SCALE 21.2
+define HAL_BATT_CURR_PIN 11
+define HAL_BATT_CURR_SCALE 40.2
+
+# order of UARTs (and USB)
+# SERIAL_NUM|SER0|SER1  |SER2  |SER3  |SER4 |SER5 |SER6  |
+# FUNCTION  |USB |      |DJIO3 |GPS   |     |ESC  |SBUS  |
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# USART1
+PA9  USART1_TX USART1
+PA10 USART1_RX USART1
+
+# USART2 - DJIO3
+PA2 USART2_TX USART2
+PA3 USART2_RX USART2 NODMA
+
+# USART3 - GPS
+PB10 USART3_TX USART3 NODMA
+PB11 USART3_RX USART3 NODMA
+
+# UART4
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4 NODMA
+
+# UART5
+PD2 UART5_RX UART5  NODMA
+
+# UART6
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6 NODMA
+PC15 SBUS_INV OUTPUT
+
+# 9 PWM available by default
+define BOARD_PWM_COUNT_DEFAULT 9
+
+PB0  TIM3_CH3  TIM3  PWM(1)  GPIO(50)
+PB1  TIM3_CH4  TIM3  PWM(2)  GPIO(51) BIDIR
+PA15 TIM2_CH1  TIM2  PWM(3)  GPIO(52) BIDIR
+PB3  TIM2_CH2  TIM2  PWM(4)  GPIO(53)
+PB4  TIM3_CH1  TIM3  PWM(5)  GPIO(54)
+PB5  TIM3_CH2  TIM3  PWM(6)  GPIO(55)
+PB8  TIM4_CH3  TIM4  PWM(7)  GPIO(56)
+PB9  TIM4_CH4  TIM4  PWM(8)  GPIO(57)
+PB14 TIM12_CH1 TIM12 PWM(9)  GPIO(58) NODMA
+
+# no built-in compass, but probe the i2c bus for all possible
+# external compass types
+define ALLOW_ARM_NO_COMPASS
+define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_I2C_INTERNAL_MASK 0
+define HAL_COMPASS_AUTO_ROT_DEFAULT 2
+
+# imu & baro
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+BARO DPS310 SPI:dps310
+
+# SPI devices
+SPIDEV bmi270        SPI2 DEVID1  BMI270_CS   MODE3  2*MHZ   10*MHZ
+SPIDEV dps310        SPI2 DEVID2  DPS310_CS   MODE3  5*MHZ   5*MHZ
+SPIDEV sdcard        SPI3 DEVID3  SDCARD_CS   MODE0  400*KHZ 25*MHZ
+SPIDEV osd           SPI1 DEVID4  AT7456E_CS  MODE0  10*MHZ  10*MHZ
+
+# filesystem setup on sdcard
+define HAL_OS_FATFS_IO 1
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 1
+ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin
+
+# reduce flash usage
+define HAL_MOUNT_ENABLED 0
+define HAL_SPRAYER_ENABLED 0
+define HAL_GENERATOR_ENABLED 0
+define HAL_VISUALODOM_ENABLED 0
+define AP_WINCH_ENABLED 0
+define AP_BEACON_ENABLED 0
+define AP_GRIPPER_ENABLED 0
+define AP_ICENGINE_ENABLED 0
+define AP_BARO_PROBE_EXTERNAL_I2C_BUSES 0
+define OFFBOARD_GUIDED 0
+define QAUTOTUNE_ENABLED 0
+define EK3_FEATURE_EXTERNAL_NAV 0
+define AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 0
+define AC_PAYLOAD_PLACE_ENABLED 0