diff --git a/Tools/bootloaders/CarbonixF405-no-crystal_bl.bin b/Tools/bootloaders/CarbonixF405-no-crystal_bl.bin
new file mode 100644
index 0000000000..0293a6bcdb
Binary files /dev/null and b/Tools/bootloaders/CarbonixF405-no-crystal_bl.bin differ
diff --git a/Tools/bootloaders/CarbonixF405-no-crystal_bl.hex b/Tools/bootloaders/CarbonixF405-no-crystal_bl.hex
new file mode 100644
index 0000000000..31067b3e7e
--- /dev/null
+++ b/Tools/bootloaders/CarbonixF405-no-crystal_bl.hex
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diff --git a/Tools/bootloaders/CarbonixF405_bl.hex b/Tools/bootloaders/CarbonixF405_bl.hex
new file mode 100644
index 0000000000..acefce4b47
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diff --git a/Tools/bootloaders/CarbonixL496_bl.hex b/Tools/bootloaders/CarbonixL496_bl.hex
new file mode 100644
index 0000000000..c6f6290382
--- /dev/null
+++ b/Tools/bootloaders/CarbonixL496_bl.hex
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-LTail.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-LTail.parm
new file mode 100644
index 0000000000..edb92689e8
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-LTail.parm
@@ -0,0 +1,7 @@
+CAN_NODE 17
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_FUNCTION 56
+OUT2_MIN 1000
+OUT2_MAX 2000
+OUT2_FUNCTION 61
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-LWing.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-LWing.parm
new file mode 100644
index 0000000000..1b399c4b47
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-LWing.parm
@@ -0,0 +1,8 @@
+CAN_NODE 26
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_FUNCTION 60
+OUT2_MIN 200
+OUT2_MAX 10000
+OUT2_TRIM 5000
+OUT2_FUNCTION 59
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M1.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M1.parm
new file mode 100644
index 0000000000..85fc50dc6a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M1.parm
@@ -0,0 +1,9 @@
+CAN_NODE 11
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 33
+OUT2_FUNCTION 0
+ESC_PWM_TYPE 1
+ESC_TELEM_PORT 1
+ESC_APD_SERIAL_1 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M2.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M2.parm
new file mode 100644
index 0000000000..d87c3b6cc3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M2.parm
@@ -0,0 +1,9 @@
+CAN_NODE 12
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 34
+OUT2_FUNCTION 0
+ESC_PWM_TYPE 1
+ESC_TELEM_PORT 1
+ESC_APD_SERIAL_1 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M3.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M3.parm
new file mode 100644
index 0000000000..ce7d30d719
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M3.parm
@@ -0,0 +1,9 @@
+CAN_NODE 23
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 35
+OUT2_FUNCTION 0
+ESC_PWM_TYPE 1
+ESC_TELEM_PORT 1
+ESC_APD_SERIAL_1 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M4.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M4.parm
new file mode 100644
index 0000000000..bdfeaf97c1
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M4.parm
@@ -0,0 +1,9 @@
+CAN_NODE 24
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 36
+OUT2_FUNCTION 0
+ESC_PWM_TYPE 1
+ESC_TELEM_PORT 1
+ESC_APD_SERIAL_1 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M5.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M5.parm
new file mode 100644
index 0000000000..7d507518ee
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-M5.parm
@@ -0,0 +1,13 @@
+CAN_NODE 15
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 37
+OUT2_FUNCTION 0
+ESC_PWM_TYPE 1
+ESC_TELEM_PORT 1
+ESC_APD_SERIAL_1 1
+RNGFND_PORT 2
+RNGFND1_TYPE 8
+RNGFND1_MAX_CM 15800
+RNGFND1_GNDCLEAR 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-RTail.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-RTail.parm
new file mode 100644
index 0000000000..8de58672d2
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-RTail.parm
@@ -0,0 +1,8 @@
+CAN_NODE 27
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_REVERSED 1
+OUT1_FUNCTION 56
+OUT2_MIN 1000
+OUT2_MAX 2000
+OUT2_FUNCTION 61
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-RWing.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-RWing.parm
new file mode 100644
index 0000000000..40c506799b
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Ottano/Ottano-RWing.parm
@@ -0,0 +1,8 @@
+CAN_NODE 16
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_FUNCTION 60
+OUT2_MIN 200
+OUT2_MAX 10000
+OUT2_TRIM 5000
+OUT2_FUNCTION 59
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-LTail.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-LTail.parm
new file mode 100644
index 0000000000..edb92689e8
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-LTail.parm
@@ -0,0 +1,7 @@
+CAN_NODE 17
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_FUNCTION 56
+OUT2_MIN 1000
+OUT2_MAX 2000
+OUT2_FUNCTION 61
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-LWing.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-LWing.parm
new file mode 100644
index 0000000000..1b399c4b47
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-LWing.parm
@@ -0,0 +1,8 @@
+CAN_NODE 26
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_FUNCTION 60
+OUT2_MIN 200
+OUT2_MAX 10000
+OUT2_TRIM 5000
+OUT2_FUNCTION 59
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M1.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M1.parm
new file mode 100644
index 0000000000..2036ebea51
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M1.parm
@@ -0,0 +1,12 @@
+CAN_NODE 11
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 33
+OUT2_FUNCTION 0
+OUT_BLH_MASK 3
+OUT_BLH_OTYPE 6
+OUT_BLH_POLES 28
+OUT_BLH_EXTLM 1
+ESC_PWM_TYPE 6
+ESC_TELEM_PORT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M2.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M2.parm
new file mode 100644
index 0000000000..7f9c2193ce
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M2.parm
@@ -0,0 +1,12 @@
+CAN_NODE 12
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 34
+OUT2_FUNCTION 0
+OUT_BLH_MASK 3
+OUT_BLH_OTYPE 6
+OUT_BLH_POLES 28
+OUT_BLH_EXTLM 1
+ESC_PWM_TYPE 6
+ESC_TELEM_PORT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M3.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M3.parm
new file mode 100644
index 0000000000..af91360a5f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M3.parm
@@ -0,0 +1,12 @@
+CAN_NODE 23
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 35
+OUT2_FUNCTION 0
+OUT_BLH_MASK 3
+OUT_BLH_OTYPE 6
+OUT_BLH_POLES 28
+OUT_BLH_EXTLM 1
+ESC_PWM_TYPE 6
+ESC_TELEM_PORT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M4.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M4.parm
new file mode 100644
index 0000000000..e923709e29
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M4.parm
@@ -0,0 +1,12 @@
+CAN_NODE 24
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 36
+OUT2_FUNCTION 0
+OUT_BLH_MASK 3
+OUT_BLH_OTYPE 6
+OUT_BLH_POLES 28
+OUT_BLH_EXTLM 1
+ESC_PWM_TYPE 6
+ESC_TELEM_PORT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M5.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M5.parm
new file mode 100644
index 0000000000..4c8f9bd33a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-M5.parm
@@ -0,0 +1,16 @@
+CAN_NODE 15
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_TRIM 1000
+OUT1_FUNCTION 37
+OUT2_FUNCTION 0
+OUT_BLH_MASK 3
+OUT_BLH_OTYPE 6
+OUT_BLH_POLES 28
+OUT_BLH_EXTLM 0
+ESC_PWM_TYPE 6
+ESC_TELEM_PORT 1
+RNGFND_PORT 2
+RNGFND1_TYPE 8
+RNGFND1_MAX_CM 15800
+RNGFND1_GNDCLEAR 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-RTail.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-RTail.parm
new file mode 100644
index 0000000000..8de58672d2
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-RTail.parm
@@ -0,0 +1,8 @@
+CAN_NODE 27
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_REVERSED 1
+OUT1_FUNCTION 56
+OUT2_MIN 1000
+OUT2_MAX 2000
+OUT2_FUNCTION 61
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-RWing.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-RWing.parm
new file mode 100644
index 0000000000..40c506799b
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/Volanti-RWing.parm
@@ -0,0 +1,8 @@
+CAN_NODE 16
+OUT1_MIN 1000
+OUT1_MAX 2000
+OUT1_FUNCTION 60
+OUT2_MIN 200
+OUT2_MAX 10000
+OUT2_TRIM 5000
+OUT2_FUNCTION 59
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cubeorange.inc b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cubeorange.inc
new file mode 100644
index 0000000000..209c017ee5
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cubeorange.inc
@@ -0,0 +1,18 @@
+# hw definition file for processing by chibios_hwdef.py
+
+include ../CubeOrange/hwdef.dat
+include ./features.inc
+
+# The Carbonix carrier board (CX13042008) uses uninverted logic for these pins,
+# as opposed to how the CubePilot carrier hardware is designed. We have to
+# redefine these pin assignments.
+undef PB5
+undef PB7
+PB5 VDD_BRICK_VALID INPUT PULLUP
+PB7 VDD_BRICK2_VALID INPUT PULLUP
+
+# Set board heater target to 60C
+undef HAL_IMU_TEMP_DEFAULT
+define HAL_IMU_TEMP_DEFAULT 60
+
+USE_BOOTLOADER_FROM_BOARD CubeOrange
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
new file mode 100644
index 0000000000..b37e1a5954
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/defaults.parm
@@ -0,0 +1,164 @@
+# Carbonix Common Defaults
+AHRS_GPS_MINSATS,20
+AHRS_GPS_USE,2
+ARMING_MIS_ITEMS,22
+ARMING_RUDDER,0
+ARSPD_RATIO,1.6
+ARSPD_SKIP_CAL,1
+ARSPD_TYPE,8
+ARSPD_USE,1
+ARSPD_WIND_MAX,25
+ARSPD_WIND_WARN,12
+ARSPD2_RATIO,1.6
+ARSPD2_SKIP_CAL,1
+ARSPD2_TYPE,8
+ARSPD2_USE,1
+BRD_RTC_TYPES,7
+CAM_AUTO_ONLY,1
+CAM1_INTRVAL_MIN,0.8
+CAM1_RELAY_ON,0
+CAM1_SERVO_OFF,1000
+CAM1_TYPE,2
+CAN_D1_UC_OPTION,10
+CAN_D2_UC_NODE,20
+CAN_D2_UC_OPTION,10
+CAN_LOGLEVEL,4
+CAN_P1_DRIVER,1
+CAN_P2_DRIVER,2
+COMPASS_MOTCT,2
+COMPASS_OPTIONS,1
+CRASH_ACC_THRESH,40
+CRASH_DETECT,1
+EK3_AFFINITY,13
+EK3_SRC1_POSZ,3
+FENCE_AUTOENABLE,3
+FENCE_ENABLE,1
+FENCE_OPTIONS,0
+FLTMODE3,10
+FLTMODE4,19
+FLTMODE5,7
+FS_GCS_ENABL,1
+FS_LONG_ACTN,1
+FS_LONG_TIMEOUT,10
+GPS_TYPE,9
+GPS_TYPE2,9
+GPS1_CAN_OVRIDE,19
+GPS2_CAN_OVRIDE,29
+INITIAL_MODE,11
+INS_TCAL1_ENABLE,1
+INS_TCAL2_ENABLE,1
+INS_TCAL3_ENABLE,1
+LAND_DISARMDELAY,3
+LAND_THEN_NEUTRL,1
+LEVEL_ROLL_LIMIT,6
+LOG_DISARMED,1
+LOG_FILE_DSRMROT,1
+LOG_FILE_MB_FREE,5000       # Old logs on memory card with be deleted to create atleast 5GB memory.
+LOG_REPLAY,1
+MIN_GROUNDSPEED,8
+PTCH_LIM_MAX_DEG,16
+PTCH_LIM_MIN_DEG,-13
+Q_A_THR_MIX_MAN,0.25
+Q_A_THR_MIX_MAX,0.65
+Q_A_THR_MIX_MIN,0.25
+Q_ENABLE,1
+Q_LAND_FINAL_ALT,10
+Q_PILOT_SPD_DN,1.8
+Q_PILOT_SPD_UP,2
+Q_RC_SPEED,400
+Q_RTL_ALT,45
+Q_RTL_MODE,1
+Q_TRAN_PIT_MAX,2
+Q_TRANS_FAIL,30
+Q_TRANSITION_MS,2000
+Q_VFWD_ALT,5
+Q_WVANE_HGT_MIN,5
+Q_WVANE_TAKEOFF,0
+RC_PROTOCOLS,520
+RC1_MAX,2000
+RC1_MIN,1000
+RC10_MAX,2000
+RC10_MIN,1000
+RC11_MAX,2000
+RC11_MIN,1000
+RC12_MAX,2000
+RC12_MIN,1000
+RC13_MAX,2000
+RC13_MIN,1000
+RC14_MAX,2000
+RC14_MIN,1000
+RC15_MAX,2000
+RC15_MIN,1000
+RC16_MAX,2000
+RC16_MIN,1000
+RC2_MAX,2000
+RC2_MIN,1000
+RC2_REVERSED,1
+RC3_MAX,2000
+RC3_MIN,1000
+RC4_MAX,2000
+RC4_MIN,1000
+RC5_MAX,2000
+RC5_MIN,1000
+RC6_MAX,2000
+RC6_MIN,1000
+RC7_MAX,2000
+RC7_MIN,1000
+RC8_MAX,2000
+RC8_MIN,1000
+RC9_MAX,2000
+RC9_MIN,1000
+RNGFND_LANDING,1
+RNGFND1_MAX_CM,15800
+RNGFND1_MIN_CM,5
+RTL_AUTOLAND,2
+RTL_RADIUS,200
+SCHED_LOOP_RATE,200         # Loop Rate for Control in flight Controller set to 200Hz from 400Hz Results SW-171.
+SCR_ENABLE,1
+SCR_HEAP_SIZE,200000
+SCR_VM_I_COUNT,100000
+SERVO1_FUNCTION,33 # Motor 1
+SERVO1_MAX,2000 # Setting all servos to 2000/1000, overriding in platforms if needed
+SERVO1_MIN,1000
+SERVO10_FUNCTION,4 # Aileron
+SERVO10_MAX,2000
+SERVO10_MIN,1000
+SERVO11_FUNCTION,21 # Rudder
+SERVO11_MAX,2000
+SERVO11_MIN,1000
+SERVO12_MAX,2000
+SERVO12_MIN,1000
+SERVO13_MAX,2000
+SERVO13_MIN,1000
+SERVO14_FUNCTION,0 # PLB Servo/GPIO
+SERVO14_MAX,2000
+SERVO14_MIN,1000
+SERVO15_MAX,2000
+SERVO15_MIN,1000
+SERVO16_MAX,2000
+SERVO16_MIN,1000
+SERVO2_FUNCTION,34 # Motor 2
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO3_FUNCTION,35 # Motor 3
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO4_FUNCTION,36 # Motor 4
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO5_FUNCTION,70 # Pusher throttle
+SERVO5_MAX,2000
+SERVO5_MIN,1000
+SERVO6_FUNCTION,19 # Elevator
+SERVO6_MAX,2000
+SERVO6_MIN,1000
+SERVO7_FUNCTION,0 # PLB Servo/GPIO
+SERVO7_MAX,2000
+SERVO7_MIN,1000
+SERVO8_FUNCTION,-1 # IGN relay GPIO
+SERVO8_MAX,2000
+SERVO8_MIN,1000
+SERVO9_FUNCTION,94 # Scripting function for LEDs
+SERVO9_MAX,2000
+SERVO9_MIN,1000
+TERRAIN_FOLLOW,72 # Enabled Auto and Guided (the command being executed must have the terrain frame though)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/features.inc b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/features.inc
new file mode 100644
index 0000000000..3c87283d68
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/features.inc
@@ -0,0 +1,612 @@
+undef HAL_EXTERNAL_AHRS_ENABLED
+undef AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
+undef AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED
+undef AP_EXTERNAL_AHRS_VECTORNAV_ENABLED
+undef HAL_NAVEKF2_AVAILABLE
+undef HAL_NAVEKF3_AVAILABLE
+undef EK3_FEATURE_EXTERNAL_NAV
+undef EK3_FEATURE_DRAG_FUSION
+undef HAL_INS_TEMPERATURE_CAL_ENABLE
+undef HAL_VISUALODOM_ENABLED
+undef HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF
+undef AP_FETTEC_ONEWIRE_ENABLED
+undef AP_DRONECAN_HIMARK_SERVO_SUPPORT
+undef AP_DRONECAN_HOBBYWING_ESC_SUPPORT
+undef AP_KDECAN_ENABLED
+undef AP_ROBOTISSERVO_ENABLED
+undef AP_SBUSOUTPUT_ENABLED
+undef AP_VOLZ_ENABLED
+undef AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
+undef AP_AIRSPEED_ASP5033_ENABLED
+undef AP_AIRSPEED_ANALOG_ENABLED
+undef AP_AIRSPEED_DLVR_ENABLED
+undef AP_AIRSPEED_DRONECAN_ENABLED
+undef AP_AIRSPEED_MS4525_ENABLED
+undef AP_AIRSPEED_MS5525_ENABLED
+undef AP_AIRSPEED_MSP_ENABLED
+undef AP_AIRSPEED_NMEA_ENABLED
+undef AP_AIRSPEED_SDP3X_ENABLED
+undef AP_TEMPCALIBRATION_ENABLED
+undef HAL_BARO_WIND_COMP_ENABLED
+undef AP_BARO_BMP085_ENABLED
+undef AP_BARO_BMP280_ENABLED
+undef AP_BARO_BMP388_ENABLED
+undef AP_BARO_DPS280_ENABLED
+undef AP_BARO_DRONECAN_ENABLED
+undef AP_BARO_DUMMY_ENABLED
+undef AP_BARO_EXTERNALAHRS_ENABLED
+undef AP_BARO_FBM320_ENABLED
+undef AP_BARO_ICM20789_ENABLED
+undef AP_BARO_ICP101XX_ENABLED
+undef AP_BARO_ICP201XX_ENABLED
+undef AP_BARO_KELLERLD_ENABLED
+undef AP_BARO_LPS2XH_ENABLED
+undef AP_BARO_MS56XX_ENABLED
+undef AP_BARO_MSP_ENABLED
+undef AP_BARO_SPL06_ENABLED
+undef AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED
+undef AP_BATTERY_FUELFLOW_ENABLED
+undef AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
+undef AP_BATTERY_FUELLEVEL_PWM_ENABLED
+undef AP_BATTERY_INA2XX_ENABLED
+undef AP_BATTERY_SMBUS_ENABLED
+undef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
+undef AP_BATTERY_WATT_MAX_ENABLED
+undef AP_CAMERA_ENABLED
+undef AP_CAMERA_SEND_FOV_STATUS_ENABLED
+undef AP_CAMERA_MAVLINK_ENABLED
+undef AP_CAMERA_MAVLINKCAMV2_ENABLED
+undef AP_CAMERA_MOUNT_ENABLED
+undef AP_CAMERA_RELAY_ENABLED
+undef AP_CAMERA_SERVO_ENABLED
+undef AP_CAMERA_SOLOGIMBAL_ENABLED
+undef HAL_RUNCAM_ENABLED
+undef AP_COMPASS_AK09916_ENABLED
+undef AP_COMPASS_AK8963_ENABLED
+undef AP_COMPASS_BMM150_ENABLED
+undef AP_COMPASS_DRONECAN_ENABLED
+undef AP_COMPASS_EXTERNALAHRS_ENABLED
+undef AP_COMPASS_HMC5843_ENABLED
+undef AP_COMPASS_ICM20948_ENABLED
+undef AP_COMPASS_IST8308_ENABLED
+undef AP_COMPASS_LIS3MDL_ENABLED
+undef AP_COMPASS_LSM303D_ENABLED
+undef AP_COMPASS_LSM9DS1_ENABLED
+undef AP_COMPASS_MAG3110_ENABLED
+undef AP_COMPASS_MMC3416_ENABLED
+undef AP_COMPASS_MMC5XX3_ENABLED
+undef AP_COMPASS_QMC5883L_ENABLED
+undef AP_COMPASS_RM3100_ENABLED
+undef AC_PAYLOAD_PLACE_ENABLED
+undef MODE_BRAKE_ENABLED
+undef MODE_FLIP_ENABLED
+undef MODE_FLOWHOLD_ENABLED
+undef MODE_FOLLOW_ENABLED
+undef MODE_GUIDED_NOGPS_ENABLED
+undef MODE_SPORT_ENABLED
+undef MODE_SYSTEMID_ENABLED
+undef MODE_TURTLE_ENABLED
+undef MODE_ZIGZAG_ENABLED
+undef AP_CRASHDUMP_ENABLED
+undef AP_INERTIALSENSOR_KILL_IMU_ENABLED
+undef HAL_ENABLE_DRONECAN_DRIVERS
+undef HAL_PICCOLO_CAN_ENABLE
+undef HAL_TORQEEDO_ENABLED
+undef FORCE_APJ_DEFAULT_PARAMETERS
+undef AP_FILESYSTEM_MISSION_ENABLED
+undef AP_FILESYSTEM_PARAM_ENABLED
+undef AP_FILESYSTEM_ROMFS_ENABLED
+undef AP_FILESYSTEM_SYS_ENABLED
+undef AP_DRONECAN_SEND_GPS
+undef AP_GPS_ERB_ENABLED
+undef AP_GPS_GSOF_ENABLED
+undef AP_GPS_MAV_ENABLED
+undef AP_GPS_NMEA_ENABLED
+undef AP_GPS_NMEA_UNICORE_ENABLED
+undef AP_GPS_NOVA_ENABLED
+undef AP_GPS_SBF_ENABLED
+undef AP_GPS_SBP_ENABLED
+undef AP_GPS_SBP2_ENABLED
+undef AP_GPS_SIRF_ENABLED
+undef AP_GPS_UBLOX_ENABLED
+undef HAL_GENERATOR_ENABLED
+undef AP_GENERATOR_IE_2400_ENABLED
+undef AP_GENERATOR_IE_650_800_ENABLED
+undef AP_GENERATOR_RICHENPOWER_ENABLED
+undef HAL_MOUNT_ALEXMOS_ENABLED
+undef HAL_MOUNT_GREMSY_ENABLED
+undef HAL_MOUNT_ENABLED
+undef HAL_MOUNT_SERVO_ENABLED
+undef HAL_MOUNT_SIYI_ENABLED
+undef HAL_SOLO_GIMBAL_ENABLED
+undef HAL_MOUNT_STORM32MAVLINK_ENABLED
+undef HAL_MOUNT_STORM32SERIAL_ENABLED
+undef HAL_MOUNT_VIEWPRO_ENABLED
+undef HAL_MOUNT_XACTI_ENABLED
+undef HAL_EFI_ENABLED
+undef AP_EFI_CURRAWONG_ECU_ENABLED
+undef AP_EFI_DRONECAN_ENABLED
+undef AP_EFI_SERIAL_HIRTH_ENABLED
+undef AP_EFI_SERIAL_LUTAN_ENABLED
+undef AP_EFI_MAV_ENABLED
+undef AP_EFI_SERIAL_MS_ENABLED
+undef AP_EFI_NWPWU_ENABLED
+undef AP_ICENGINE_ENABLED
+undef HAL_ADSB_ENABLED
+undef HAL_ADSB_SAGETECH_ENABLED
+undef HAL_ADSB_SAGETECH_MXS_ENABLED
+undef HAL_ADSB_UAVIONIX_MAVLINK_ENABLED
+undef HAL_ADSB_UCP_ENABLED
+undef AP_AIS_ENABLED
+undef AP_OPENDRONEID_ENABLED
+undef AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
+undef AP_MAVLINK_BATTERY2_ENABLED
+undef AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
+undef AP_MAVLINK_MSG_DEVICE_OP_ENABLED
+undef AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
+undef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
+undef AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
+undef AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
+undef AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED
+undef AP_MAVLINK_SERVO_RELAY_ENABLED
+undef AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
+undef HAL_HIGH_LATENCY2_ENABLED
+undef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
+undef HAL_MSP_ENABLED
+undef AP_COMPASS_MSP_ENABLED
+undef HAL_WITH_MSP_DISPLAYPORT
+undef HAL_MSP_GPS_ENABLED
+undef HAL_MSP_OPTICALFLOW_ENABLED
+undef HAL_MSP_RANGEFINDER_ENABLED
+undef HAL_MSP_SENSORS_ENABLED
+undef AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED
+undef AP_NETWORKING_BACKEND_PPP
+undef AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED
+undef AP_NOTIFY_NCP5623_ENABLED
+undef AP_NOTIFY_NEOPIXEL_ENABLED
+undef AP_NOTIFY_PROFILED_ENABLED
+undef AP_NOTIFY_PROFILED_SPI_ENABLED
+undef AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED
+undef AP_NOTIFY_TONEALARM_ENABLED
+undef OSD_ENABLED
+undef AP_OSD_LINK_STATS_EXTENSIONS_ENABLED
+undef OSD_PARAM_ENABLED
+undef HAL_OSD_SIDEBAR_ENABLE
+undef HAL_PLUSCODE_ENABLE
+undef AP_BOOTLOADER_FLASHING_ENABLED
+undef HAL_BUTTON_ENABLED
+undef COMPASS_CAL_ENABLED
+undef HAL_DISPLAY_ENABLED
+undef AP_DRONECAN_SERIAL_ENABLED
+undef HAL_GYROFFT_ENABLED
+undef HAL_LOGGING_ENABLED
+undef HAL_NMEA_OUTPUT_ENABLED
+undef AP_SCRIPTING_ENABLED
+undef AP_FILESYSTEM_FORMAT_ENABLED
+undef AP_SDCARD_STORAGE_ENABLED
+undef AP_CAN_SLCAN_ENABLED
+undef AP_GRIPPER_ENABLED
+undef AP_LANDINGGEAR_ENABLED
+undef AP_RELAY_ENABLED
+undef AP_SERVORELAYEVENTS_ENABLED
+undef HAL_SPRAYER_ENABLED
+undef AP_WINCH_ENABLED
+undef AP_ADVANCEDFAILSAFE_ENABLED
+undef AP_TUNING_ENABLED
+undef HAL_LANDING_DEEPSTALL_ENABLED
+undef AP_PLANE_BLACKBOX_LOGGING
+undef QAUTOTUNE_ENABLED
+undef HAL_QUADPLANE_ENABLED
+undef HAL_SOARING_ENABLED
+undef AC_PRECLAND_ENABLED
+undef AC_PRECLAND_COMPANION_ENABLED
+undef AC_PRECLAND_IRLOCK_ENABLED
+undef HAL_PROXIMITY_ENABLED
+undef AP_PROXIMITY_CYGBOT_ENABLED
+undef AP_PROXIMITY_DRONECAN_ENABLED
+undef AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
+undef AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
+undef AP_PROXIMITY_MAV_ENABLED
+undef AP_PROXIMITY_RANGEFINDER_ENABLED
+undef AP_PROXIMITY_RPLIDARA2_ENABLED
+undef AP_PROXIMITY_TERARANGERTOWER_ENABLED
+undef AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
+undef AP_RCPROTOCOL_CRSF_ENABLED
+undef AP_RCPROTOCOL_GHST_ENABLED
+undef AP_RCPROTOCOL_IBUS_ENABLED
+undef AP_RCPROTOCOL_PPMSUM_ENABLED
+undef AP_RCPROTOCOL_ENABLED
+undef AP_RCPROTOCOL_SBUS_ENABLED
+undef AP_RCPROTOCOL_SRXL_ENABLED
+undef AP_RCPROTOCOL_SRXL2_ENABLED
+undef AP_RCPROTOCOL_ST24_ENABLED
+undef AP_RCPROTOCOL_SUMD_ENABLED
+undef AP_RANGEFINDER_ENABLED
+undef AP_RANGEFINDER_ANALOG_ENABLED
+undef AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
+undef AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
+undef AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
+undef AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
+undef AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
+undef AP_RANGEFINDER_BLPING_ENABLED
+undef AP_RANGEFINDER_DRONECAN_ENABLED
+undef AP_RANGEFINDER_GYUS42V2_ENABLED
+undef AP_RANGEFINDER_HC_SR04_ENABLED
+undef AP_RANGEFINDER_JRE_SERIAL_ENABLED
+undef AP_RANGEFINDER_LANBAO_ENABLED
+undef AP_RANGEFINDER_LEDDARONE_ENABLED
+undef AP_RANGEFINDER_LEDDARVU8_ENABLED
+undef AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
+undef AP_RANGEFINDER_LUA_ENABLED
+undef AP_RANGEFINDER_LWI2C_ENABLED
+undef AP_RANGEFINDER_MAVLINK_ENABLED
+undef AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
+undef AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
+undef AP_RANGEFINDER_NMEA_ENABLED
+undef AP_RANGEFINDER_NOOPLOOP_ENABLED
+undef AP_RANGEFINDER_NRA24_CAN_ENABLED
+undef AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
+undef AP_RANGEFINDER_PWM_ENABLED
+undef AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
+undef AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
+undef AP_RANGEFINDER_TRI2C_ENABLED
+undef AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
+undef AP_RANGEFINDER_USD1_CAN_ENABLED
+undef AP_RANGEFINDER_USD1_SERIAL_ENABLED
+undef AP_RANGEFINDER_VL53L0X_ENABLED
+undef AP_RANGEFINDER_VL53L1X_ENABLED
+undef AP_RANGEFINDER_WASP_ENABLED
+undef AC_AVOID_ENABLED
+undef AC_OAPATHPLANNER_ENABLED
+undef AP_FENCE_ENABLED
+undef HAL_PARACHUTE_ENABLED
+undef HAL_RALLY_ENABLED
+undef AP_AIRSPEED_ENABLED
+undef AP_BEACON_ENABLED
+undef GPS_MOVING_BASELINE
+undef AP_SERIALMANAGER_IMUOUT_ENABLED
+undef AP_OPTICALFLOW_ENABLED
+undef AP_OPTICALFLOW_CXOF_ENABLED
+undef AP_OPTICALFLOW_HEREFLOW_ENABLED
+undef AP_OPTICALFLOW_MAV_ENABLED
+undef AP_OPTICALFLOW_ONBOARD_ENABLED
+undef AP_OPTICALFLOW_PIXART_ENABLED
+undef AP_OPTICALFLOW_PX4FLOW_ENABLED
+undef AP_OPTICALFLOW_UPFLOW_ENABLED
+undef AP_RPM_ENABLED
+undef AP_RPM_EFI_ENABLED
+undef AP_RPM_ESC_TELEM_ENABLED
+undef AP_RPM_GENERATOR_ENABLED
+undef AP_RPM_HARMONICNOTCH_ENABLED
+undef AP_RPM_PIN_ENABLED
+undef AP_TEMPERATURE_SENSOR_ENABLED
+undef AP_TEMPERATURE_SENSOR_MCP9600_ENABLED
+undef AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
+undef AP_TEMPERATURE_SENSOR_TSYS03_ENABLED
+undef AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED
+undef HAL_CRSF_TELEM_ENABLED
+undef HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED
+undef AP_FRSKY_TELEM_ENABLED
+undef AP_FRSKY_D_TELEM_ENABLED
+undef AP_FRSKY_SPORT_TELEM_ENABLED
+undef AP_FRSKY_SPORT_PASSTHROUGH_ENABLED
+undef AP_GHST_TELEM_ENABLED
+undef HAL_HOTT_TELEM_ENABLED
+undef AP_LTM_TELEM_ENABLED
+undef HAL_SPEKTRUM_TELEM_ENABLED
+undef AP_MOTORS_FRAME_DECA_ENABLED
+undef AP_MOTORS_FRAME_DODECAHEXA_ENABLED
+undef AP_MOTORS_FRAME_HEXA_ENABLED
+undef AP_MOTORS_FRAME_OCTA_ENABLED
+undef AP_MOTORS_FRAME_OCTAQUAD_ENABLED
+undef AP_MOTORS_FRAME_QUAD_ENABLED
+undef AP_MOTORS_FRAME_Y6_ENABLED
+undef AP_SMARTAUDIO_ENABLED
+undef AP_TRAMP_ENABLED
+undef AP_VIDEOTX_ENABLED
+define HAL_EXTERNAL_AHRS_ENABLED 1
+define AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED 0
+define AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED 0
+define AP_EXTERNAL_AHRS_VECTORNAV_ENABLED 0
+define HAL_NAVEKF2_AVAILABLE 0
+define HAL_NAVEKF3_AVAILABLE 1
+define EK3_FEATURE_EXTERNAL_NAV 0
+define EK3_FEATURE_DRAG_FUSION 0
+define HAL_INS_TEMPERATURE_CAL_ENABLE 0
+define HAL_VISUALODOM_ENABLED 0
+define HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF 0
+define AP_FETTEC_ONEWIRE_ENABLED 0
+define AP_DRONECAN_HIMARK_SERVO_SUPPORT 1
+define AP_DRONECAN_HOBBYWING_ESC_SUPPORT 1
+define AP_KDECAN_ENABLED 0
+define AP_ROBOTISSERVO_ENABLED 0
+define AP_SBUSOUTPUT_ENABLED 0
+define AP_VOLZ_ENABLED 0
+define AP_DRONECAN_VOLZ_FEEDBACK_ENABLED 0
+define AP_AIRSPEED_ASP5033_ENABLED 0
+define AP_AIRSPEED_ANALOG_ENABLED 0
+define AP_AIRSPEED_DLVR_ENABLED 1
+define AP_AIRSPEED_DRONECAN_ENABLED 1
+define AP_AIRSPEED_MS4525_ENABLED 0
+define AP_AIRSPEED_MS5525_ENABLED 0
+define AP_AIRSPEED_MSP_ENABLED 0
+define AP_AIRSPEED_NMEA_ENABLED 0
+define AP_AIRSPEED_SDP3X_ENABLED 0
+define AP_TEMPCALIBRATION_ENABLED 0
+define HAL_BARO_WIND_COMP_ENABLED 0
+define AP_BARO_BMP085_ENABLED 0
+define AP_BARO_BMP280_ENABLED 0
+define AP_BARO_BMP388_ENABLED 1
+define AP_BARO_DPS280_ENABLED 0
+define AP_BARO_DRONECAN_ENABLED 1
+define AP_BARO_DUMMY_ENABLED 0
+define AP_BARO_EXTERNALAHRS_ENABLED 0
+define AP_BARO_FBM320_ENABLED 0
+define AP_BARO_ICM20789_ENABLED 0
+define AP_BARO_ICP101XX_ENABLED 0
+define AP_BARO_ICP201XX_ENABLED 0
+define AP_BARO_KELLERLD_ENABLED 0
+define AP_BARO_LPS2XH_ENABLED 0
+define AP_BARO_MS56XX_ENABLED 1
+define AP_BARO_MSP_ENABLED 0
+define AP_BARO_SPL06_ENABLED 0
+define AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED 1
+define AP_BATTERY_FUELFLOW_ENABLED 1
+define AP_BATTERY_FUELLEVEL_ANALOG_ENABLED 0
+define AP_BATTERY_FUELLEVEL_PWM_ENABLED 0
+define AP_BATTERY_INA2XX_ENABLED 0
+define AP_BATTERY_SMBUS_ENABLED 0
+define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED 0
+define AP_BATTERY_WATT_MAX_ENABLED 0
+define AP_CAMERA_ENABLED 1
+define AP_CAMERA_SEND_FOV_STATUS_ENABLED 1
+define AP_CAMERA_MAVLINK_ENABLED 1
+define AP_CAMERA_MAVLINKCAMV2_ENABLED 1
+define AP_CAMERA_MOUNT_ENABLED 1
+define AP_CAMERA_RELAY_ENABLED 1
+define AP_CAMERA_SERVO_ENABLED 1
+define AP_CAMERA_SOLOGIMBAL_ENABLED 0
+define HAL_RUNCAM_ENABLED 1
+define AP_COMPASS_AK09916_ENABLED 1
+define AP_COMPASS_AK8963_ENABLED 1
+define AP_COMPASS_BMM150_ENABLED 1
+define AP_COMPASS_DRONECAN_ENABLED 1
+define AP_COMPASS_EXTERNALAHRS_ENABLED 0
+define AP_COMPASS_HMC5843_ENABLED 0
+define AP_COMPASS_ICM20948_ENABLED 1
+define AP_COMPASS_IST8308_ENABLED 0
+define AP_COMPASS_LIS3MDL_ENABLED 0
+define AP_COMPASS_LSM303D_ENABLED 1
+define AP_COMPASS_LSM9DS1_ENABLED 0
+define AP_COMPASS_MAG3110_ENABLED 0
+define AP_COMPASS_MMC3416_ENABLED 0
+define AP_COMPASS_MMC5XX3_ENABLED 0
+define AP_COMPASS_QMC5883L_ENABLED 0
+define AP_COMPASS_RM3100_ENABLED 0
+define AC_PAYLOAD_PLACE_ENABLED 0
+define MODE_BRAKE_ENABLED 0
+define MODE_FLIP_ENABLED 0
+define MODE_FLOWHOLD_ENABLED 0
+define MODE_FOLLOW_ENABLED 0
+define MODE_GUIDED_NOGPS_ENABLED 0
+define MODE_SPORT_ENABLED 0
+define MODE_SYSTEMID_ENABLED 0
+define MODE_TURTLE_ENABLED 0
+define MODE_ZIGZAG_ENABLED 0
+define AP_CRASHDUMP_ENABLED 1
+define AP_INERTIALSENSOR_KILL_IMU_ENABLED 0
+define HAL_ENABLE_DRONECAN_DRIVERS 1
+define HAL_PICCOLO_CAN_ENABLE 0
+define HAL_TORQEEDO_ENABLED 0
+define FORCE_APJ_DEFAULT_PARAMETERS 0
+define AP_FILESYSTEM_MISSION_ENABLED 1
+define AP_FILESYSTEM_PARAM_ENABLED 1
+define AP_FILESYSTEM_ROMFS_ENABLED 1
+define AP_FILESYSTEM_SYS_ENABLED 1
+define AP_DRONECAN_SEND_GPS 0
+define AP_GPS_ERB_ENABLED 0
+define AP_GPS_GSOF_ENABLED 0
+define AP_GPS_MAV_ENABLED 1
+define AP_GPS_NMEA_ENABLED 0
+define AP_GPS_NMEA_UNICORE_ENABLED 0
+define AP_GPS_NOVA_ENABLED 0
+define AP_GPS_SBF_ENABLED 0
+define AP_GPS_SBP_ENABLED 0
+define AP_GPS_SBP2_ENABLED 0
+define AP_GPS_SIRF_ENABLED 0
+define AP_GPS_UBLOX_ENABLED 1
+define HAL_GENERATOR_ENABLED 0
+define AP_GENERATOR_IE_2400_ENABLED 0
+define AP_GENERATOR_IE_650_800_ENABLED 0
+define AP_GENERATOR_RICHENPOWER_ENABLED 0
+define HAL_MOUNT_ALEXMOS_ENABLED 1
+define HAL_MOUNT_GREMSY_ENABLED 1
+define HAL_MOUNT_ENABLED 1
+define HAL_MOUNT_SERVO_ENABLED 1
+define HAL_MOUNT_SIYI_ENABLED 1
+define HAL_SOLO_GIMBAL_ENABLED 0
+define HAL_MOUNT_STORM32MAVLINK_ENABLED 1
+define HAL_MOUNT_STORM32SERIAL_ENABLED 1
+define HAL_MOUNT_VIEWPRO_ENABLED 1
+define HAL_MOUNT_XACTI_ENABLED 1
+define HAL_EFI_ENABLED 1
+define AP_EFI_CURRAWONG_ECU_ENABLED 0
+define AP_EFI_DRONECAN_ENABLED 1
+define AP_EFI_SERIAL_HIRTH_ENABLED 1
+define AP_EFI_SERIAL_LUTAN_ENABLED 0
+define AP_EFI_MAV_ENABLED 0
+define AP_EFI_SERIAL_MS_ENABLED 0
+define AP_EFI_NWPWU_ENABLED 0
+define AP_ICENGINE_ENABLED 1
+define HAL_ADSB_ENABLED 1
+define HAL_ADSB_SAGETECH_ENABLED 1
+define HAL_ADSB_SAGETECH_MXS_ENABLED 1
+define HAL_ADSB_UAVIONIX_MAVLINK_ENABLED 1
+define HAL_ADSB_UCP_ENABLED 1
+define AP_AIS_ENABLED 0
+define AP_OPENDRONEID_ENABLED 0
+define AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED 0
+define AP_MAVLINK_BATTERY2_ENABLED 0
+define AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED 0
+define AP_MAVLINK_MSG_DEVICE_OP_ENABLED 0
+define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED 0
+define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED 0
+define AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED 0
+define AP_MAVLINK_MSG_RELAY_STATUS_ENABLED 1
+define AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED 1
+define AP_MAVLINK_SERVO_RELAY_ENABLED 1
+define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT 0
+define HAL_HIGH_LATENCY2_ENABLED 1
+define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED 0
+define HAL_MSP_ENABLED 0
+define AP_COMPASS_MSP_ENABLED 0
+define HAL_WITH_MSP_DISPLAYPORT 0
+define HAL_MSP_GPS_ENABLED 0
+define HAL_MSP_OPTICALFLOW_ENABLED 0
+define HAL_MSP_RANGEFINDER_ENABLED 0
+define HAL_MSP_SENSORS_ENABLED 0
+define AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED 0
+define AP_NETWORKING_BACKEND_PPP 1
+define AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED 1
+define AP_NOTIFY_NCP5623_ENABLED 0
+define AP_NOTIFY_NEOPIXEL_ENABLED 0
+define AP_NOTIFY_PROFILED_ENABLED 0
+define AP_NOTIFY_PROFILED_SPI_ENABLED 0
+define AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED 1
+define AP_NOTIFY_TONEALARM_ENABLED 0
+define OSD_ENABLED 0
+define AP_OSD_LINK_STATS_EXTENSIONS_ENABLED 0
+define OSD_PARAM_ENABLED 0
+define HAL_OSD_SIDEBAR_ENABLE 0
+define HAL_PLUSCODE_ENABLE 0
+define AP_BOOTLOADER_FLASHING_ENABLED 1
+define HAL_BUTTON_ENABLED 0
+define COMPASS_CAL_ENABLED 1
+define HAL_DISPLAY_ENABLED 0
+define AP_DRONECAN_SERIAL_ENABLED 1
+define HAL_GYROFFT_ENABLED 1
+define HAL_LOGGING_ENABLED 1
+define HAL_NMEA_OUTPUT_ENABLED 1
+define AP_SCRIPTING_ENABLED 1
+define AP_FILESYSTEM_FORMAT_ENABLED 0
+define AP_SDCARD_STORAGE_ENABLED 1
+define AP_CAN_SLCAN_ENABLED 1
+define AP_GRIPPER_ENABLED 0
+define AP_LANDINGGEAR_ENABLED 0
+define AP_RELAY_ENABLED 1
+define AP_SERVORELAYEVENTS_ENABLED 1
+define HAL_SPRAYER_ENABLED 0
+define AP_WINCH_ENABLED 0
+define AP_ADVANCEDFAILSAFE_ENABLED 1
+define AP_TUNING_ENABLED 0
+define HAL_LANDING_DEEPSTALL_ENABLED 0
+define AP_PLANE_BLACKBOX_LOGGING 0
+define QAUTOTUNE_ENABLED 0
+define HAL_QUADPLANE_ENABLED 1
+define HAL_SOARING_ENABLED 0
+define AC_PRECLAND_ENABLED 1
+define AC_PRECLAND_COMPANION_ENABLED 1
+define AC_PRECLAND_IRLOCK_ENABLED 0
+define HAL_PROXIMITY_ENABLED 0
+define AP_PROXIMITY_CYGBOT_ENABLED 0
+define AP_PROXIMITY_DRONECAN_ENABLED 0
+define AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED 0
+define AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED 0
+define AP_PROXIMITY_MAV_ENABLED 0
+define AP_PROXIMITY_RANGEFINDER_ENABLED 0
+define AP_PROXIMITY_RPLIDARA2_ENABLED 0
+define AP_PROXIMITY_TERARANGERTOWER_ENABLED 0
+define AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED 0
+define AP_RCPROTOCOL_CRSF_ENABLED 1
+define AP_RCPROTOCOL_GHST_ENABLED 0
+define AP_RCPROTOCOL_IBUS_ENABLED 0
+define AP_RCPROTOCOL_PPMSUM_ENABLED 0
+define AP_RCPROTOCOL_ENABLED 1
+define AP_RCPROTOCOL_SBUS_ENABLED 1
+define AP_RCPROTOCOL_SRXL_ENABLED 0
+define AP_RCPROTOCOL_SRXL2_ENABLED 0
+define AP_RCPROTOCOL_ST24_ENABLED 0
+define AP_RCPROTOCOL_SUMD_ENABLED 0
+define AP_RANGEFINDER_ENABLED 1
+define AP_RANGEFINDER_ANALOG_ENABLED 0
+define AP_RANGEFINDER_BENEWAKE_CAN_ENABLED 0
+define AP_RANGEFINDER_BENEWAKE_TF02_ENABLED 0
+define AP_RANGEFINDER_BENEWAKE_TF03_ENABLED 0
+define AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED 0
+define AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED 0
+define AP_RANGEFINDER_BLPING_ENABLED 0
+define AP_RANGEFINDER_DRONECAN_ENABLED 1
+define AP_RANGEFINDER_GYUS42V2_ENABLED 0
+define AP_RANGEFINDER_HC_SR04_ENABLED 0
+define AP_RANGEFINDER_JRE_SERIAL_ENABLED 0
+define AP_RANGEFINDER_LANBAO_ENABLED 0
+define AP_RANGEFINDER_LEDDARONE_ENABLED 0
+define AP_RANGEFINDER_LEDDARVU8_ENABLED 0
+define AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED 1
+define AP_RANGEFINDER_LUA_ENABLED 1
+define AP_RANGEFINDER_LWI2C_ENABLED 0
+define AP_RANGEFINDER_MAVLINK_ENABLED 0
+define AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED 0
+define AP_RANGEFINDER_MAXSONARI2CXL_ENABLED 0
+define AP_RANGEFINDER_NMEA_ENABLED 0
+define AP_RANGEFINDER_NOOPLOOP_ENABLED 0
+define AP_RANGEFINDER_NRA24_CAN_ENABLED 0
+define AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED 0
+define AP_RANGEFINDER_PWM_ENABLED 0
+define AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED 0
+define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED 0
+define AP_RANGEFINDER_TRI2C_ENABLED 0
+define AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED 0
+define AP_RANGEFINDER_USD1_CAN_ENABLED 0
+define AP_RANGEFINDER_USD1_SERIAL_ENABLED 0
+define AP_RANGEFINDER_VL53L0X_ENABLED 0
+define AP_RANGEFINDER_VL53L1X_ENABLED 0
+define AP_RANGEFINDER_WASP_ENABLED 0
+define AC_AVOID_ENABLED 0
+define AC_OAPATHPLANNER_ENABLED 0
+define AP_FENCE_ENABLED 1
+define HAL_PARACHUTE_ENABLED 0
+define HAL_RALLY_ENABLED 1
+define AP_AIRSPEED_ENABLED 1
+define AP_BEACON_ENABLED 0
+define GPS_MOVING_BASELINE 1
+define AP_SERIALMANAGER_IMUOUT_ENABLED 0
+define AP_OPTICALFLOW_ENABLED 0
+define AP_OPTICALFLOW_CXOF_ENABLED 0
+define AP_OPTICALFLOW_HEREFLOW_ENABLED 0
+define AP_OPTICALFLOW_MAV_ENABLED 0
+define AP_OPTICALFLOW_ONBOARD_ENABLED 0
+define AP_OPTICALFLOW_PIXART_ENABLED 0
+define AP_OPTICALFLOW_PX4FLOW_ENABLED 0
+define AP_OPTICALFLOW_UPFLOW_ENABLED 0
+define AP_RPM_ENABLED 1
+define AP_RPM_EFI_ENABLED 1
+define AP_RPM_ESC_TELEM_ENABLED 1
+define AP_RPM_GENERATOR_ENABLED 0
+define AP_RPM_HARMONICNOTCH_ENABLED 0
+define AP_RPM_PIN_ENABLED 0
+define AP_TEMPERATURE_SENSOR_ENABLED 0
+define AP_TEMPERATURE_SENSOR_MCP9600_ENABLED 0
+define AP_TEMPERATURE_SENSOR_TSYS01_ENABLED 0
+define AP_TEMPERATURE_SENSOR_TSYS03_ENABLED 0
+define AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED 1
+define HAL_CRSF_TELEM_ENABLED 0
+define HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED 0
+define AP_FRSKY_TELEM_ENABLED 0
+define AP_FRSKY_D_TELEM_ENABLED 0
+define AP_FRSKY_SPORT_TELEM_ENABLED 0
+define AP_FRSKY_SPORT_PASSTHROUGH_ENABLED 0
+define AP_GHST_TELEM_ENABLED 0
+define HAL_HOTT_TELEM_ENABLED 0
+define AP_LTM_TELEM_ENABLED 0
+define HAL_SPEKTRUM_TELEM_ENABLED 0
+define AP_MOTORS_FRAME_DECA_ENABLED 0
+define AP_MOTORS_FRAME_DODECAHEXA_ENABLED 0
+define AP_MOTORS_FRAME_HEXA_ENABLED 0
+define AP_MOTORS_FRAME_OCTA_ENABLED 0
+define AP_MOTORS_FRAME_OCTAQUAD_ENABLED 1
+define AP_MOTORS_FRAME_QUAD_ENABLED 1
+define AP_MOTORS_FRAME_Y6_ENABLED 0
+define AP_SMARTAUDIO_ENABLED 0
+define AP_TRAMP_ENABLED 0
+define AP_VIDEOTX_ENABLED 0
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/Cube.param b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/Cube.param
new file mode 100644
index 0000000000..8159a75248
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/Cube.param
@@ -0,0 +1,4 @@
+#File Details : ./Payload/A7R1/Cube.param, 8136862ae2560ff3efe2e54ff4447b23, CxPilot-5.1.3, 5118f344eb1777a8a4c33cf1b455be42b40dbeae
+GPS_DRV_OPTIONS,16
+SERVO14_FUNCTION,-1
+RELAY_PIN,55
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_15(SerialGPS).parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_15(SerialGPS).parm
new file mode 100644
index 0000000000..fdb6a0cf30
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_15(SerialGPS).parm
@@ -0,0 +1,2 @@
+#File Details : ./Payload/A7R1/cpn_15(SerialGPS).parm, bec0e54ab38a90cbd892f6a0d0b50460, CxPilot-5.1.3, 5118f344eb1777a8a4c33cf1b455be42b40dbeae
+GPS_DRV_OPTIONS,16
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_19(DroneCANGPS).parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_19(DroneCANGPS).parm
new file mode 100644
index 0000000000..54efef1907
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_19(DroneCANGPS).parm
@@ -0,0 +1,2 @@
+#File Details : ./Payload/A7R1/cpn_19(DroneCANGPS).parm, bec0e54ab38a90cbd892f6a0d0b50460, CxPilot-5.1.3, 5118f344eb1777a8a4c33cf1b455be42b40dbeae
+GPS_DRV_OPTIONS,16
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_29(DroneCANGPS).parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_29(DroneCANGPS).parm
new file mode 100644
index 0000000000..4396074a12
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/A7R1/cpn_29(DroneCANGPS).parm
@@ -0,0 +1,2 @@
+#File Details : ./Payload/A7R1/cpn_29(DroneCANGPS).parm, bec0e54ab38a90cbd892f6a0d0b50460, CxPilot-5.1.3, 5118f344eb1777a8a4c33cf1b455be42b40dbeae
+GPS_DRV_OPTIONS,16
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/CM62/Cube.param b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/CM62/Cube.param
new file mode 100644
index 0000000000..9862cf8008
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/CM62/Cube.param
@@ -0,0 +1,5 @@
+#File Details : ./Payload/CM62/Cube.param, 3a31ae1ae9aed276a9981fe4a5f81577, CxPilot-5.1.3, 5118f344eb1777a8a4c33cf1b455be42b40dbeae
+MNT1_TYPE,6
+MNT1_RC_RATE,90
+MNT1_DEFLT_MODE,3
+SERIAL1_PROTOCOL,2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/Nighthawk/Cube.param b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/Nighthawk/Cube.param
new file mode 100644
index 0000000000..f0b44a7ec3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/payloads/Nighthawk/Cube.param
@@ -0,0 +1,6 @@
+#File Details : ./Payload/Nighthawk/Cube.param, 5955537d58b87986411fbcff3f946f58, CxPilot-5.1.3, 5118f344eb1777a8a4c33cf1b455be42b40dbeae
+SERIAL5_PROTOCOL,2
+SERIAL5_BAUD,115
+SR2_EXTRA1,25
+SR2_EXT_STAT,2
+SR2_POSITION,10
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua
new file mode 100644
index 0000000000..1abb8d649a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_built_in_test.lua
@@ -0,0 +1,243 @@
+--[[
+    File Name: cx_built_in_test.lua
+    Description: This script performs a continuous built-in test for various functionalities on Carbonix Aircrafts, focusing on ESC status check and fault detection.
+    Owner: [Carbonix - Software Team]
+]]
+
+-- ******************* Macros *******************
+
+local SCRIPT_NAME = 'CX_BIT'
+local SCRIPT_VERSION = 1.0 -- Script Version
+
+
+--------  MAVLINK/AUTOPILOT 'CONSTANTS'  --------
+-- MAVLink Severity Levels
+local MAV_SEVERITY_CRITICAL = 2
+local MAV_SEVERITY_ERROR = 3
+local MAV_SEVERITY_WARNING = 4
+local MAV_SEVERITY_INFO = 6
+
+-- Engine Types
+local HIRTH_EFI_TYPE = 8
+
+local ESC_WARMUP_TIME = 3000
+local SERVO_OUT_THRESHOLD = 1010
+local ESC_RPM_THRESHOLD = 10
+-- ******************* Variables *******************
+
+local number_of_esc = 5 --default value for Volanti
+
+-- Add a new table to store the warm-up end times for each ESC
+local esc_warmup_end_time = {}
+
+local srv_number = {
+    [1] = {"Motor1", 33},
+    [2] = {"Motor2", 34},
+    [3] = {"Motor3", 35},
+    [4] = {"Motor4", 36},
+    [5] = {"Motor5", 70},
+    [6] = {"Motor6", 38},
+    [7] = {"Elevator", 19},
+    [8] = {"Rudder", 21},
+    [9] = {"GPIO", -1},
+    [10] = {"Script1", 94},
+    [11] = {"Aileron", 4}
+}
+
+local srv_prv_telem_ms = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}
+local srv_telem_in_err_status  = {false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false}
+local srv_rpm_in_err_status  = {false, false, false, false, false, false, false, false, false, false, false, false, false, false, false, false}
+
+-- ******************* Objects *******************
+
+local auth_id = arming:get_aux_auth_id()
+assert(auth_id, SCRIPT_NAME .. ": could not get a prearm check auth id")
+
+local params = {
+    EFI_TYPE = Parameter()
+}
+
+
+-- ******************* Functions *******************
+
+-- wrapper for gcs:send_text()
+local function gcs_msg(severity, txt)
+    if type(severity) == 'string' then
+    -- allow just a string to be passed for simple/routine messages
+        txt      = severity
+        severity = MAV_SEVERITY_INFO
+    end
+    gcs:send_text(severity, string.format('%s: %s', SCRIPT_NAME, txt))
+end
+
+local function check_aircraft_type()
+    if params.EFI_TYPE:get() == HIRTH_EFI_TYPE then
+        number_of_esc = 4
+    else
+        number_of_esc = 5
+    end
+    return true
+end
+
+local function init_param()
+    for param_name, param in pairs(params) do
+        if not param:init(param_name) then
+            return false
+        end
+    end
+    return true
+end
+
+local function arming_check_init()
+    -- check param fetch
+    if not init_param() then
+        arming:set_aux_auth_failed(auth_id, "Parameter Init Failed")
+        gcs_msg(MAV_SEVERITY_WARNING, "Parameter Init Failed")
+        return false
+    end
+    -- check aircraft Type
+    if not check_aircraft_type() then
+        arming:set_aux_auth_failed(auth_id, "Aircraft Type Check Failed")
+        gcs_msg(MAV_SEVERITY_WARNING, "Aircraft Type Check Failed")
+        return false
+    end
+    gcs_msg(MAV_SEVERITY_INFO, "Script Version " .. SCRIPT_VERSION .. " Initialized")
+    arming:set_aux_auth_passed(auth_id)
+    return true
+end
+
+-- Call this function whenever a motor starts running
+local function esc_is_started(i)
+    -- Set the warm-up end time for this ESC to 3 seconds from now
+    esc_warmup_end_time[i] = millis() + ESC_WARMUP_TIME
+end
+
+-- Call this function whenever a motor stops running
+local function esc_is_stopped(i)
+    -- Clear the warm-up end time for this ESC
+    esc_warmup_end_time[i] = nil
+end
+
+-- Counters to debounce nil checks on esc rpm and servo output, this is a
+-- workaround to avoid giving the pilot a critical warning for an unexplained
+-- one-loop dropout we saw recently
+local NIL_WARN_THRESHOLD = 3
+local esc_rpm_nil_counter = {0, 0, 0, 0, 0}
+local servo_out_nil_counter = {0, 0, 0, 0, 0}
+
+local function esc_check_loop()
+    for i = 1, number_of_esc  do
+        local esc_last_telem_data_ms = esc_telem:get_last_telem_data_ms(i-1):toint()
+        local esc_rpm = esc_telem:get_rpm(i-1)
+        local servo_out = SRV_Channels:get_output_pwm(srv_number[i][2])
+        -- Telem data timestamp check
+        if not esc_last_telem_data_ms or esc_last_telem_data_ms == 0 or esc_last_telem_data_ms == srv_prv_telem_ms[i] then
+            if srv_telem_in_err_status[i] == false then
+                gcs_msg(MAV_SEVERITY_CRITICAL, "ESC " .. i .. " Telemetry Lost")
+                srv_telem_in_err_status[i] = true
+            end
+        -- Nil check for RPM reading
+        elseif not esc_rpm then
+            esc_rpm_nil_counter[i] = esc_rpm_nil_counter[i] + 1
+            if esc_rpm_nil_counter[i] < NIL_WARN_THRESHOLD then
+                gcs_msg(MAV_SEVERITY_INFO, "ESC " .. i .. " RPM nil")
+            elseif srv_rpm_in_err_status[i] == false then
+                gcs_msg(MAV_SEVERITY_CRITICAL, "ESC " .. i .. " RPM nil")
+                srv_telem_in_err_status[i] = true
+            end
+        -- Nil check for servo output
+        elseif not servo_out then
+            servo_out_nil_counter[i] = servo_out_nil_counter[i] + 1
+            if servo_out_nil_counter[i] < NIL_WARN_THRESHOLD then
+                gcs_msg(MAV_SEVERITY_INFO, "ESC " .. i .. " Servo Out nil")
+            elseif srv_rpm_in_err_status[i] == false then
+                gcs_msg(MAV_SEVERITY_CRITICAL, "ESC " .. i .. " Servo Out nil")
+                srv_telem_in_err_status[i] = true
+            end
+        -- Telemetry data is fresh and valid
+        else
+            if srv_telem_in_err_status[i] == true then
+                gcs_msg(MAV_SEVERITY_INFO, "ESC " .. i .. " Telemetry Recovered")
+                srv_telem_in_err_status[i] = false
+                servo_out_nil_counter[i] = 0
+                esc_rpm_nil_counter[i] = 0
+            end
+            -- If armed, check that the motor is actually turning when it is commanded to
+            if arming:is_armed() then
+                -- If the PWM is below the threshold, it is okay for the motor to be stopped
+                if servo_out < SERVO_OUT_THRESHOLD then
+                    esc_is_stopped(i)
+                -- If the PWM has just gone above the threshold, start the warm-up timer
+                elseif servo_out > SERVO_OUT_THRESHOLD and not esc_warmup_end_time[i]  then
+                    esc_is_started(i)
+                -- If the motor is running, and the warmup timer has expired, check that the motor is spinning
+                elseif esc_warmup_end_time[i] and millis() > esc_warmup_end_time[i] then
+                    if servo_out > SERVO_OUT_THRESHOLD and esc_rpm < ESC_RPM_THRESHOLD then
+                        if srv_rpm_in_err_status[i] == false then
+                            gcs_msg(MAV_SEVERITY_CRITICAL, "ESC " .. i .. " RPM Drop")
+                            srv_rpm_in_err_status[i] = true
+                        end
+                    else
+                        if srv_rpm_in_err_status[i] == true then
+                            gcs_msg(MAV_SEVERITY_INFO, "ESC " .. i .. " RPM Recovered")
+                            srv_rpm_in_err_status[i] = false
+                        end
+                    end
+                end
+            end
+        end
+        -- Update srv_prv_telem_ms[i] if it had valid data this loop
+        if esc_last_telem_data_ms and esc_last_telem_data_ms ~= 0 then
+            srv_prv_telem_ms[i] = esc_last_telem_data_ms
+        end
+    end
+end
+
+local function arming_checks()
+    -- check for status in srv_telem_in_err_status and also CX_SERVO_ERROR bit status
+    local pre_arm_status = false-- check for status in srv_telem_in_err_status and also CX_SERVO_ERROR bit status
+    arming:set_aux_auth_passed(auth_id)
+
+    for i, status in ipairs(srv_telem_in_err_status) do
+        if status == true then
+            arming:set_aux_auth_failed(auth_id, "Actuator ".. i .. " Telemetry Error")
+            return false
+        end
+    end
+    if pre_arm_status == false then
+        arming:set_aux_auth_passed(auth_id)
+    end
+
+end
+
+local function update()
+    esc_check_loop()
+    arming_checks()
+end
+
+-- wrapper around update(). This calls update() and if update faults
+-- then an error is displayed, but the script is not stopped
+local function protected_wrapper()
+    local success, err = pcall(update)
+    if not success then
+        gcs_msg(MAV_SEVERITY_ERROR, "Internal Error: " .. err)
+        -- when we fault we run the update function again after 1s, slowing it
+        -- down a bit so we don't flood the console with errors
+        return protected_wrapper, 1000
+    end
+    return protected_wrapper, 200
+end
+
+local function script_exit()
+    -- pre arm failure SCRIPT_NAME not Running
+    arming:set_aux_auth_failed(auth_id, SCRIPT_NAME .. " Not Running")
+    gcs_msg(MAV_SEVERITY_CRITICAL, "LUA SCRIPT EXIT   ... Need Reboot to Reinitialize")
+end
+
+
+-- ******************* Main *******************
+if arming_check_init() then
+    return protected_wrapper, 10000
+end
+
+script_exit()
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_led_driver.lua b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_led_driver.lua
new file mode 100644
index 0000000000..8c350bcf6e
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/scripts/cx_led_driver.lua
@@ -0,0 +1,47 @@
+
+-- LED is switched on using motor function
+local MOTOR_LED_FUNCTION = 94
+
+-- Ensure that the out2_function min = 200 and max = 10000
+local MOTOR_LED_PWM_VAL_MIN  = 200
+local MOTOR_LED_PWM_VAL_MAX  = 10000
+
+-- Arming check interval
+local LED_CYCLE_TIME = 2000
+
+
+local LED_servo = SRV_Channels:find_channel(MOTOR_LED_FUNCTION)
+
+
+gcs:send_text(0, "LED -- BEGIN")
+
+
+-- LED is switched ON using a PWM signal configured as MOTOR_LED_FUNCTION
+-- This is done to overcome the design limitations on CPN
+local function switch_LED(LED_val)
+
+    if (LED_servo ~= null) then
+        SRV_Channels:set_output_pwm_chan_timeout(LED_servo, LED_val, LED_CYCLE_TIME)
+    end
+
+    return check_arming, LED_CYCLE_TIME
+end
+
+
+
+-- Function to continuously check if the vehicle is armed or not
+-- ARMED -> LED_ON
+-- DISARMED -> LED_OFF 
+local function check_arming()
+    vehicle_armed = arming:is_armed()
+    
+    if vehicle_armed == true then
+        switch_LED(MOTOR_LED_PWM_VAL_MAX)
+    else
+        switch_LED(MOTOR_LED_PWM_VAL_MIN)
+    end
+
+    return check_arming, LED_CYCLE_TIME
+end
+
+return check_arming(), 10000
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-headless.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-headless.parm
new file mode 100644
index 0000000000..76068fee8a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-headless.parm
@@ -0,0 +1,83 @@
+# Carbonix Volanti Headless Parameters
+@include ../../CubeOrange-Volanti/defaults.parm
+ARSPD_OFFSET,2013
+ARSPD_TYPE,2
+ARSPD2_OFFSET,2013
+ARSPD2_PIN,2
+ARSPD2_TYPE,2
+@delete BATT*_PIN
+BATT2_AMP_PERVLT,12.75
+BATT2_MONITOR,4
+BATT2_VOLT_MULT,40.4
+BATT3_AMP_PERVLT,12.75
+BATT3_MONITOR,4
+BATT3_VOLT_MULT,40.4
+GPS_TYPE,1
+GPS_TYPE2,1
+@delete INS_*
+INS_ACC2OFFS_X,0.001
+INS_ACC2OFFS_Y,0.001
+INS_ACC2OFFS_Z,0.001
+INS_ACC2SCAL_X,1.001
+INS_ACC2SCAL_Y,1.001
+INS_ACC2SCAL_Z,1.001
+INS_ACCOFFS_X,0.001
+INS_ACCOFFS_Y,0.001
+INS_ACCOFFS_Z,0.001
+INS_ACCSCAL_X,1.001
+INS_ACCSCAL_Y,1.001
+INS_ACCSCAL_Z,1.001
+INS_GYR_CAL,0 # taken from quadplane autotest parameters, just in case
+NAVL1_PERIOD,14
+@delete PTCH_RATE_*
+PTCH_RATE_FF,1.407055
+PTCH_RATE_I,0.2125
+PTCH_RATE_IMAX,0.888889
+PTCH_RATE_P,0.309954
+@delete PTCH2SRV_*
+@delete Q_A_*
+Q_A_ACCEL_P_MAX,30000
+Q_A_ACCEL_R_MAX,30000
+Q_A_ACCEL_Y_MAX,4500
+Q_A_RAT_PIT_D,0.002
+Q_A_RAT_PIT_P,0.15
+Q_A_RAT_RLL_D,0.002
+Q_A_RAT_RLL_P,0.15
+Q_A_RATE_P_MAX,60
+Q_A_RATE_R_MAX,60
+Q_A_RATE_Y_MAX,12
+Q_A_SLEW_YAW,1500
+@delete Q_M_*
+@delete Q_P_*
+@delete RLL_RATE_*
+RLL_RATE_FF,0.552741
+RLL_RATE_I,0.2125
+RLL_RATE_IMAX,0.888889
+RLL_RATE_P,0.141009
+RNGFND1_PIN,0
+RNGFND1_SCALING,40
+RNGFND1_TYPE,1
+@delete SERVO*
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO3_TRIM,1000
+SIM_ARSPD_RATIO,1.6
+SIM_ARSPD2_RATIO,1.6
+SIM_BATT_CAP_AH,29.33
+SIM_GPS_POS_X,-0.12
+SIM_GPS_POS_Y,-0.17
+SIM_GPS_POS_Z,-0.06
+SIM_GPS2_DISABLE,0
+SIM_GPS2_POS_X,-0.12
+SIM_GPS2_POS_Y,0.17
+SIM_GPS2_POS_Z,-0.06
+SIM_IMU_POS_X,-0.21
+SIM_IMU_POS_Z,-0.03
+SIM_MAG1_DEVID,70403
+SIM_MAG2_DEVID,72963
+SIM_PLD_LAT,43.17443
+SIM_PLD_LON,-71.78664
+SIM_SONAR_POS_X,-0.12
+SIM_SONAR_POS_Z,0.05
+SIM_SONAR_SCALE,40
+@delete YAW2SRV_*
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-realflight.parm b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-realflight.parm
new file mode 100644
index 0000000000..a0168963b4
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/sitl_params/volanti-realflight.parm
@@ -0,0 +1,46 @@
+# Carbonix Volanti RealFlight Parameters
+@include ../../CubeOrange-Volanti/defaults.parm
+# SITL-specific parameters
+AHRS_EKF_TYPE,3
+ARSPD_OFFSET,2013
+ARSPD_TYPE,2
+ARSPD2_OFFSET,2013
+ARSPD2_PIN,2
+ARSPD2_TYPE,2
+BATT_OPTIONS,0 # Disable reporting sag corrected voltage, because it already is (due to RF bug)
+BATT2_AMP_PERVLT,8.5
+BATT2_CURR_PIN,12
+BATT2_MONITOR,4
+BATT2_VOLT_MULT,10.1
+BATT2_VOLT_PIN,13
+BATT3_AMP_PERVLT,8.5
+BATT3_CURR_PIN,12
+BATT3_MONITOR,4
+BATT3_VOLT_MULT,10.1
+BATT3_VOLT_PIN,13
+BATT4_MONITOR,0
+GPS_TYPE,1
+GPS_TYPE2,1
+@delete INS_*
+RNGFND1_PIN,0
+RNGFND1_SCALING,40
+RNGFND1_TYPE,1
+SERVO7_FUNCTION,21 # RealFlight model uses old servo numbering
+SIM_ARSPD_RATIO,1.6
+SIM_ARSPD2_RATIO,1.6
+SIM_GPS_POS_X,-0.12
+SIM_GPS_POS_Y,-0.17
+SIM_GPS_POS_Z,-0.06
+SIM_GPS2_DISABLE,0
+SIM_GPS2_POS_X,-0.12
+SIM_GPS2_POS_Y,0.17
+SIM_GPS2_POS_Z,-0.06
+SIM_IMU_POS_X,-0.21
+SIM_IMU_POS_Z,-0.03
+SIM_MAG1_DEVID,70403
+SIM_MAG2_DEVID,72963
+SIM_PLD_LAT,43.17443
+SIM_PLD_LON,-71.78664
+SIM_SONAR_POS_X,-0.12
+SIM_SONAR_POS_Z,0.05
+SIM_SONAR_SCALE,40
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405-no-crystal/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405-no-crystal/hwdef-bl.dat
new file mode 100644
index 0000000000..aad40c5703
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405-no-crystal/hwdef-bl.dat
@@ -0,0 +1,7 @@
+include ../CarbonixF405/hwdef-bl.dat
+
+undef OSCILLATOR_HZ
+OSCILLATOR_HZ 0
+
+undef CAN_APP_NODE_NAME
+define CAN_APP_NODE_NAME "org.ardupilot.CarbonixF405-no-crystal"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405-no-crystal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405-no-crystal/hwdef.dat
new file mode 100644
index 0000000000..fca76cfa1e
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405-no-crystal/hwdef.dat
@@ -0,0 +1,7 @@
+include ../CarbonixF405/hwdef.dat
+
+undef OSCILLATOR_HZ
+OSCILLATOR_HZ 0
+
+undef CAN_APP_NODE_NAME
+define CAN_APP_NODE_NAME "org.ardupilot.CarbonixF405-no-crystal"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef-bl.dat
index ef2963d19d..9c713c3b26 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef-bl.dat
@@ -15,8 +15,8 @@ APJ_BOARD_ID 1064
 # setup build for a peripheral firmware
 env AP_PERIPH 1
 
-# crystal frequency set to 0 to use internal clock
-OSCILLATOR_HZ 0
+# crystal frequency set to 0 to use internal clock; currently configured for external crystal 12MHZ
+OSCILLATOR_HZ 12000000
 
 # assume 1024K flash part
 FLASH_SIZE_KB 1024
@@ -69,3 +69,5 @@ define BOOTLOADER_BAUDRATE 57600
 
 # use a small bootloader timeout
 define HAL_BOOTLOADER_TIMEOUT 1000
+
+define CAN_APP_NODE_NAME "org.ardupilot.CarbonixF405"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
index 6bfaadd6db..c2fbe6d555 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
@@ -16,8 +16,8 @@ APJ_BOARD_ID 1064
 # setup build for a peripheral firmware
 env AP_PERIPH 1
 
-# crystal frequency set to 0 to use internal clock
-OSCILLATOR_HZ 0
+# crystal frequency set to 0 to use internal clock; currently configured for external crystal 12MHZ
+OSCILLATOR_HZ 12000000
 
 #MCU F405 Flash 1024
 FLASH_SIZE_KB 1024
@@ -27,10 +27,6 @@ SERIAL_ORDER OTG1 USART2 USART3 UART4
 
 define HAL_CAN_POOL_SIZE 6000
 
-#STDOUT_SERIAL SD1
-#STDOUT_BAUDRATE 57600
-
-
 # PWM outputs
 PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
 PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
@@ -115,31 +111,37 @@ define HAL_NO_MONITOR_THREAD
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
-define HAL_PERIPH_ENABLE_MAG
-define HAL_PERIPH_ENABLE_BARO
-define HAL_PERIPH_ENABLE_RC_OUT
-
 # enable ESC control
+define HAL_PERIPH_ENABLE_RC_OUT
+define HAL_PERIPH_ARM_MONITORING_ENABLE
 define HAL_SUPPORT_RCOUT_SERIAL 1
 define HAL_WITH_ESC_TELEM 1
+define NUM_SERVO_CHANNELS 2
 
 # enable GPS
 define HAL_PERIPH_ENABLE_GPS
-define HAL_PERIPH_GPS_PORT_DEFAULT 2
-#define HAL_PERIPH_ENABLE_NOTIFY
-#define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
-
-# default ADSB off by setting 0 baudrate
-define HAL_PERIPH_ENABLE_ADSB
-define HAL_PERIPH_ADSB_PORT_DEFAULT 3
-define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
-
-BARO MS56XX I2C:0:0x76
-COMPASS MMC5XX3 I2C:0:0x30 false ROTATION_NONE
+define HAL_PERIPH_GPS_PORT_DEFAULT -1
+define HAL_PERIPH_ENABLE_NOTIFY
 
+# enable Compass
+define HAL_PERIPH_ENABLE_MAG
+define AP_COMPASS_ENABLE_DEFAULT 0
 define AP_COMPASS_QMC5883P_ENABLED 1
 COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_NONE
 
+# enable ADSB
+define HAL_PERIPH_ENABLE_ADSB
+define HAL_PERIPH_ADSB_PORT_DEFAULT -1
+define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
 
+# enable baro
+define HAL_PERIPH_ENABLE_BARO
+define AP_PERIPH_BARO_ENABLE_DEFAULT 0
+BARO MS56XX I2C:0:0x76
 
+# enable rangefinder
+define HAL_PERIPH_ENABLE_RANGEFINDER 1
 
+define CAN_APP_NODE_NAME "org.ardupilot.CarbonixF405"
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef-bl.dat
deleted file mode 100644
index 7c8895bd3f..0000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef-bl.dat
+++ /dev/null
@@ -1,72 +0,0 @@
-# hw definition file for processing by chibios_pins.py
-
-# MCU class and specific type
-MCU STM32L496 STM32L496xx
-
-FLASH_RESERVE_START_KB 0
-FLASH_BOOTLOADER_LOAD_KB 36
-
-# reserve some space for params
-APP_START_OFFSET_KB 4
-
-# board ID for firmware load
-APJ_BOARD_ID 1053
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-
-# crystal frequency
-OSCILLATOR_HZ 12000000
-
-# assume 256k flash part
-FLASH_SIZE_KB 256
-
-STDOUT_SERIAL SD2
-STDOUT_BAUDRATE 57600
-
-# order of UARTs
-SERIAL_ORDER OTG1 USART2
-
-# a fault LED
-PA13 LED_BOOTLOADER OUTPUT HIGH # blue
-define HAL_LED_ON 0
-
-# USART1
-PA2 USART2_TX USART2 SPEED_HIGH NODMA
-PA3 USART2_RX USART2 SPEED_HIGH NODMA
-
-# USB
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-define HAL_USE_SERIAL TRUE
-
-define STM32_SERIAL_USE_USART2 TRUE
-
-define HAL_NO_GPIO_IRQ
-
-define SERIAL_BUFFERS_SIZE 32
-define HAL_USE_EMPTY_IO TRUE
-define PORT_INT_REQUIRED_STACK 64
-
-define DMA_RESERVE_SIZE 0
-
-MAIN_STACK 0x800
-PROCESS_STACK 0x800
-
-define HAL_DISABLE_LOOP_DELAY
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-
-# debugger support, disabled as PA13 used for LED
-# PA13 JTMS-SWDIO SWD
-# PA14 JTCK-SWCLK SWD
-
-# make bl baudrate match debug baudrate for easier debugging
-define BOOTLOADER_BAUDRATE 57600
-
-# use a small bootloader timeout
-define HAL_BOOTLOADER_TIMEOUT 1000
-
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
deleted file mode 100644
index 807e790e30..0000000000
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
+++ /dev/null
@@ -1,143 +0,0 @@
-# hw definition file for processing by chibios_pins.py
-
-# MCU class and specific type
-MCU STM32L496 STM32L496xx
-
-# bootloader starts firmware at 36k + 4k (STORAGE_FLASH)
-FLASH_RESERVE_START_KB 40
-
-# store parameters in pages 18 and 19
-STORAGE_FLASH_PAGE 18
-define HAL_STORAGE_SIZE 800
-
-# board ID for firmware load
-APJ_BOARD_ID 1053
-
-# setup build for a peripheral firmware
-env AP_PERIPH 1
-
-# enable watchdog
-
-# crystal frequency
-OSCILLATOR_HZ 12000000
-
-# assume the 256k flash part
-FLASH_SIZE_KB 256
-
-# order of UARTs
-SERIAL_ORDER OTG1 USART2 USART3 UART4
-
-define HAL_CAN_POOL_SIZE 6000
-
-#STDOUT_SERIAL SD1
-#STDOUT_BAUDRATE 57600
-
-
-# PWM outputs
-PA9 TIM1_CH2 TIM1 PWM(1) GPIO(50)
-PA8 TIM1_CH1 TIM1 PWM(2) GPIO(51)
-PC6 TIM3_CH1 TIM3 PWM(3) GPIO(52) # LED
-
-# USART2, ESC telem
-PA2 USART2_TX USART2 SPEED_HIGH NODMA
-PA3 USART2_RX USART2 SPEED_HIGH NODMA
-
-# USART3
-PC4 USART3_TX USART3 SPEED_HIGH NODMA
-PC5 USART3_RX USART3 SPEED_HIGH NODMA
-
-# UART4
-PA0 UART4_TX UART4 SPEED_HIGH NODMA
-PA1 UART4_RX UART4 SPEED_HIGH NODMA
-
-# USB
-PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1
-
-# LED, active low
-PA13 LED OUTPUT HIGH GPIO(1)
-
-# spi2
-PB10 SPI2_SCK SPI2
-PB14 SPI2_MISO SPI2
-PB15 SPI2_MOSI SPI2
-
-# CS pins
-PC8 BMI088_A_CS CS
-PC9 BMI088_G_CS CS
-
-SPIDEV bmi088_g SPI2 DEVID1  BMI088_G_CS  MODE3 10*MHZ 10*MHZ
-SPIDEV bmi088_a SPI2 DEVID2  BMI088_A_CS  MODE3 10*MHZ 10*MHZ
-
-# one I2C bus
-PB6 I2C4_SCL I2C4
-PB7 I2C4_SDA I2C4
-
-I2C_ORDER I2C4
-
-# allow for reboot command for faster development
-define HAL_PERIPH_LISTEN_FOR_SERIAL_UART_REBOOT_CMD_PORT 0
-
-# debugger support (disabled as conflicts with LED)
-#PA13 JTMS-SWDIO SWD
-#PA14 JTCK-SWCLK SWD
-
-define HAL_NO_GPIO_IRQ
-define SERIAL_BUFFERS_SIZE 512
-
-define DMA_RESERVE_SIZE 2048
-
-# stack for fast interrupts
-define PORT_INT_REQUIRED_STACK 64
-
-# MAIN_STACK is stack for ISR handlers
-MAIN_STACK 0x300
-
-# PROCESS_STACK controls stack for main thread
-PROCESS_STACK 0xA00
-
-define HAL_DISABLE_LOOP_DELAY
-
-# enable CAN support
-PB8 CAN1_RX CAN1
-PB9 CAN1_TX CAN1
-
-# ADC inputs
-define HAL_USE_ADC TRUE
-define STM32_ADC_USE_ADC1 TRUE
-
-PA4 VSENSE1 ADC1 SCALE(1)
-PA5 VSENSE2 ADC1 SCALE(1)
-PA6 VSENSE3 ADC1 SCALE(1)
-PB1 VSENSE4 ADC1 SCALE(1)
-
-define AP_STATS_ENABLED 1
-
-define HAL_NO_GCS
-define HAL_NO_MONITOR_THREAD
-
-define AP_PARAM_MAX_EMBEDDED_PARAM 512
-
-define HAL_PERIPH_ENABLE_MAG
-define HAL_PERIPH_ENABLE_BARO
-define HAL_PERIPH_ENABLE_RC_OUT
-
-# enable ESC control
-define HAL_SUPPORT_RCOUT_SERIAL 1
-define HAL_WITH_ESC_TELEM 1
-
-# enable GPS
-define HAL_PERIPH_ENABLE_GPS
-define HAL_PERIPH_GPS_PORT_DEFAULT 2
-#define HAL_PERIPH_ENABLE_NOTIFY
-#define HAL_PERIPH_ENABLE_NCP5623_LED_WITHOUT_NOTIFY
-
-# default ADSB off by setting 0 baudrate
-define HAL_PERIPH_ENABLE_ADSB
-define HAL_PERIPH_ADSB_PORT_DEFAULT 3
-define HAL_PERIPH_ADSB_BAUD_DEFAULT 57600
-
-BARO MS56XX I2C:0:0x76
-COMPASS QMC5883P I2C:0:0x2C false ROTATION_YAW_180
-
-define AP_COMPASS_QMC5883P_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
new file mode 100644
index 0000000000..2da4766e4f
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm
@@ -0,0 +1,226 @@
+@include ../CarbonixCommon/defaults.parm
+# Ottano-specific parameters
+AIRSPEED_CRUISE,26
+AIRSPEED_MAX,36
+AIRSPEED_MIN,23
+ARSPD_TYPE,8
+BATT_ARM_MAH,10000
+BATT_ARM_VOLT,24
+BATT_CAPACITY,30600
+BATT_CRT_MAH,7000
+BATT_CRT_VOLT,21
+BATT_FS_CRT_ACT,4
+BATT_FS_LOW_ACT,1
+BATT_FS_VOLTSRC,1
+BATT_LOW_MAH,10000
+BATT_LOW_VOLT,23
+BATT_MONITOR,10
+BATT_OPTIONS,64
+BATT_SUM_MASK,6
+BATT2_AMP_OFFSET,0.002314
+BATT2_AMP_PERVLT,29.86658
+BATT2_CAPACITY,0
+BATT2_CURR_PIN,51
+BATT2_MONITOR,28
+BATT2_VOLT_MULT,16.66666
+BATT2_VOLT_PIN,50
+BATT3_AMP_OFFSET,0.005901
+BATT3_AMP_PERVLT,30.09855
+BATT3_CAPACITY,0
+BATT3_CURR_PIN,52
+BATT3_MONITOR,28
+BATT3_VOLT_MULT,16.66666
+BATT3_VOLT_PIN,50
+BATT4_CAPACITY,0
+BATT4_MONITOR,9
+BATT5_MONITOR,8
+BATT6_MONITOR,8
+BRD_SAFETY_MASK,2032
+CAN_D1_UC_ESC_BM,9
+CAN_D1_UC_SRV_BM,1600
+CAN_D2_UC_ESC_BM,6
+CAN_D2_UC_SRV_BM,1600
+COMPASS_PRIO1_ID,70411
+COMPASS_PRIO2_ID,72963
+COMPASS_USE3,0
+EFI_COEF1,0.68
+EFI_FUEL_DENS,0.8364842
+EFI_THRLIN_COEF1,0.8364842
+EFI_THRLIN_COEF2,-0.02207897
+EFI_THRLIN_COEF3,0.0002301534
+EFI_THRLIN_EN,1
+EFI_THRLIN_OFS,6
+EFI_TYPE,8
+GPS_POS1_X,-0.135
+GPS_POS1_Y,-1.05
+GPS_POS2_X,-0.135
+GPS_POS2_Y,1.05
+ICE_ENABLE,1
+ICE_IDLE_RPM,2400
+ICE_IDLE_SLEW,2
+ICE_OPTIONS,4
+ICE_RPM_CHAN,1
+ICE_START_CHAN,6
+ICE_START_DELAY,3
+ICE_STARTCHN_MIN,950
+ICE_STARTER_TIME,5
+INS_ACCEL_FILTER,10
+INS_GYRO_FILTER,22
+INS_HNTC2_ATT,60
+INS_HNTC2_BW,12
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,35
+INS_HNTC2_MODE,2
+INS_HNTC2_OPTS,1
+INS_HNTC2_REF,1
+INS_HNTCH_ATT,60
+INS_HNTCH_BW,15
+INS_HNTCH_ENABLE,1
+INS_HNTCH_FREQ,60
+INS_HNTCH_HMNCS,3
+INS_HNTCH_MODE,3
+INS_HNTCH_OPTS,3
+INS_HNTCH_REF,1
+INS_LOG_BAT_MASK,5
+INS_POS1_X,0.82
+INS_POS2_X,0.82
+INS_POS3_X,0.82
+KFF_RDDRMIX,1
+NAVL1_LIM_BANK,35 # Set to match ROLL_LIMIT_DEG
+NAVL1_PERIOD,18
+PTCH_RATE_D,0.007605
+PTCH_RATE_FF,0.7402687
+PTCH_RATE_FLTD,11
+PTCH_RATE_FLTT,3.183099
+PTCH_RATE_I,0.7402687
+PTCH_RATE_IMAX,0.4
+PTCH_RATE_P,0.2194594
+PTCH_RATE_SMAX,110
+PTCH_TRIM_DEG,3
+PTCH2SRV_RLL,1.05
+PTCH2SRV_RMAX_DN,45
+PTCH2SRV_RMAX_UP,75
+Q_A_ACCEL_P_MAX,8800
+Q_A_ACCEL_R_MAX,13000
+Q_A_ACCEL_Y_MAX,4000
+Q_A_ANG_YAW_P,2
+Q_A_RAT_PIT_D,0.015
+Q_A_RAT_PIT_FLTD,11
+Q_A_RAT_PIT_FLTE,8
+Q_A_RAT_PIT_FLTT,11
+Q_A_RAT_PIT_I,0.18
+Q_A_RAT_PIT_IMAX,0.4
+Q_A_RAT_PIT_P,0.18
+Q_A_RAT_PIT_SMAX,15
+Q_A_RAT_RLL_D,0.006
+Q_A_RAT_RLL_FLTD,11
+Q_A_RAT_RLL_FLTE,8
+Q_A_RAT_RLL_FLTT,11
+Q_A_RAT_RLL_I,0.3
+Q_A_RAT_RLL_P,0.3
+Q_A_RAT_RLL_SMAX,15
+Q_A_RAT_YAW_D,0.002
+Q_A_RAT_YAW_FLTD,11
+Q_A_RAT_YAW_FLTE,2
+Q_A_RAT_YAW_FLTT,11
+Q_A_RAT_YAW_I,0.25
+Q_A_RAT_YAW_IMAX,0.45
+Q_A_RAT_YAW_P,2.5
+Q_A_RAT_YAW_SMAX,10
+Q_A_RATE_P_MAX,45
+Q_A_RATE_R_MAX,55
+Q_A_RATE_Y_MAX,12
+Q_A_SLEW_YAW,1500
+Q_ANGLE_MAX,1500
+Q_ASSIST_SPEED,18
+Q_LOIT_ACC_MAX,100
+Q_LOIT_ANG_MAX,10
+Q_LOIT_BRK_ACCEL,25
+Q_LOIT_BRK_JERK,175
+Q_LOIT_SPEED,300
+Q_M_BAT_VOLT_MAX,50.4
+Q_M_BAT_VOLT_MIN,39.6
+Q_M_SPIN_ARM,0.07
+Q_M_SPIN_MIN,0.1
+Q_M_THST_EXPO,0.582
+Q_M_THST_HOVER,0.3868718
+Q_M_YAW_HEADROOM,100
+Q_OPTIONS,147553
+Q_P_ACCZ_D,0.015
+Q_P_ACCZ_FLTD,6
+Q_P_ACCZ_FLTE,3
+Q_P_ACCZ_FLTT,6
+Q_P_ACCZ_I,0.82
+Q_P_ACCZ_P,0.41
+Q_P_ANGLE_MAX,10
+Q_P_JERK_XY,1.25
+Q_P_POSXY_P,0.85
+Q_P_POSZ_P,1.28
+Q_P_VELXY_D,0.2
+Q_P_VELXY_I,0.4
+Q_P_VELXY_P,0.65
+Q_P_VELZ_FLTD,7
+Q_P_VELZ_FLTE,4
+Q_P_VELZ_I,0.78
+Q_P_VELZ_IMAX,4
+Q_P_VELZ_P,4
+Q_PILOT_ACCEL_Z,1
+Q_PLT_Y_RATE,25
+Q_TRANS_DECEL,0.9
+Q_VFWD_GAIN,0.1
+Q_WP_ACCEL_Z,30
+Q_WP_JERK,0.7
+Q_WP_SPEED_DN,200
+Q_WP_SPEED_UP,220
+Q_WVANE_GAIN,1
+RELAY1_FUNCTION,4
+RELAY2_FUNCTION,2
+RELAY2_PIN,108
+RLL_RATE_D,0.001917198
+RLL_RATE_FF,0.7728607
+RLL_RATE_FLTD,11
+RLL_RATE_FLTT,3.183099
+RLL_RATE_I,0.7728607
+RLL_RATE_IMAX,0.4
+RLL_RATE_P,0.09429314
+RLL_RATE_SMAX,125
+RLL2SRV_RMAX,75
+RNGFND1_GNDCLEAR,27
+RNGFND1_POS_X,0.93
+RNGFND1_TYPE,24
+ROLL_LIMIT_DEG,35  # Set to match NAVL1_LIM_BANK
+RPM1_TYPE,3
+SCALING_SPEED,24
+SERIAL1_BAUD,57
+SERIAL1_PROTOCOL,24
+SERIAL2_BAUD,115
+SERIAL3_BAUD,115
+SERIAL3_PROTOCOL,23
+SERIAL4_BAUD,57
+SERIAL4_PROTOCOL,2
+SERIAL5_PROTOCOL,28
+SERIAL6_BAUD,115
+SERIAL6_PROTOCOL,2
+SERVO5_MAX,1950
+SERVO5_MIN,980
+TECS_CLMB_MAX,4
+TECS_INTEG_GAIN,0.15
+TECS_LAND_ARSPD,24
+TECS_PITCH_MAX,16
+TECS_PITCH_MIN,-8
+TECS_PTCH_DAMP,0.4
+TECS_RLL2THR,20
+TECS_SINK_MAX,2.7
+TECS_SINK_MIN,2.4
+TECS_SPDWEIGHT,0.5
+TECS_THR_DAMP,0.4
+TECS_TIME_CONST,4
+TECS_VERT_ACC,6
+THR_SLEWRATE,50
+TRIM_THROTTLE,60
+WP_LOITER_RAD,250
+WP_RADIUS,150
+YAW2SRV_DAMP,0.6
+YAW2SRV_IMAX,1000
+YAW2SRV_INT,1
+YAW2SRV_SLIP,3.5
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/hwdef.dat
new file mode 100644
index 0000000000..dcc2ae1b6c
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/hwdef.dat
@@ -0,0 +1 @@
+include ../CarbonixCommon/cubeorange.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_built_in_test.lua b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_built_in_test.lua
new file mode 120000
index 0000000000..dbb50da048
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_built_in_test.lua
@@ -0,0 +1 @@
+../../CarbonixCommon/scripts/cx_built_in_test.lua
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_led_driver.lua b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_led_driver.lua
new file mode 120000
index 0000000000..71087fb1e4
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_led_driver.lua
@@ -0,0 +1 @@
+../../CarbonixCommon/scripts/cx_led_driver.lua
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
new file mode 100644
index 0000000000..c4effc0712
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/defaults.parm
@@ -0,0 +1,205 @@
+@include ../CarbonixCommon/defaults.parm
+# Volanti-specific parameters
+AIRSPEED_CRUISE,21
+AIRSPEED_MAX,28
+AIRSPEED_MIN,20
+ARSPD_TYPE,8
+BATT_CAPACITY,22000
+BATT_CRT_VOLT,44.4
+BATT_FS_LOW_ACT,1
+BATT_FS_VOLTSRC,1
+BATT_LOW_TIMER,3
+BATT_LOW_VOLT,44.8
+BATT_MONITOR,10
+BATT_OPTIONS,64
+BATT_SUM_MASK,6
+BATT2_AMP_OFFSET,0.002314
+BATT2_AMP_PERVLT,29.86658
+BATT2_CAPACITY,0
+BATT2_CURR_PIN,51
+BATT2_MONITOR,28
+BATT2_VOLT_MULT,16.66666
+BATT2_VOLT_PIN,50
+BATT3_AMP_OFFSET,0.005901
+BATT3_AMP_PERVLT,30.09855
+BATT3_CAPACITY,0
+BATT3_CURR_PIN,52
+BATT3_MONITOR,28
+BATT3_VOLT_MULT,16.66666
+BATT3_VOLT_PIN,50
+BATT4_CAPACITY,0
+BATT4_MONITOR,9
+BRD_SAFETY_MASK,16352
+CAN_D1_UC_ESC_BM,19
+CAN_D1_UC_SRV_BM,1824
+CAN_D2_UC_ESC_BM,12
+CAN_D2_UC_SRV_BM,1824
+COMPASS_PRIO1_ID,70403
+COMPASS_PRIO2_ID,72963
+COMPASS_PRIO3_ID,590114
+COMPASS_USE3,0
+FFT_BW_HOVER,8.673816
+FFT_ENABLE,1
+FFT_FREQ_HOVER,17.84392
+FFT_HMNC_FIT,20
+FFT_MAXHZ,30
+FFT_MINHZ,8
+FFT_SAMPLE_MODE,2
+FFT_SNR_REF,5
+FFT_THR_REF,0.0846776
+FFT_WINDOW_OLAP,0.65
+FFT_WINDOW_SIZE,256
+FWD_BAT_VOLT_MAX,50.4
+FWD_BAT_VOLT_MIN,42
+GPS_POS1_X,-0.12
+GPS_POS1_Y,-0.17
+GPS_POS1_Z,-0.06
+GPS_POS2_X,-0.12
+GPS_POS2_Y,0.17
+GPS_POS2_Z,-0.06
+INS_ACCEL_FILTER,6
+INS_HNTC2_ATT,50
+INS_HNTC2_BW,6
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,8
+INS_HNTC2_MODE,4
+INS_HNTC2_OPTS,2
+INS_HNTC2_REF,1
+INS_HNTCH_ATT,50
+INS_HNTCH_BW,60
+INS_HNTCH_ENABLE,1
+INS_HNTCH_FREQ,95
+INS_HNTCH_MODE,3
+INS_HNTCH_OPTS,3
+INS_HNTCH_REF,1
+INS_LOG_BAT_CNT,512
+INS_LOG_BAT_MASK,5
+INS_LOG_BAT_OPT,4
+INS_POS1_X,-0.21
+INS_POS1_Z,-0.03
+INS_POS2_X,-0.21
+INS_POS2_Z,-0.03
+INS_POS3_X,-0.21
+INS_POS3_Z,-0.03
+KFF_RDDRMIX,0.9
+NAVL1_LIM_BANK,40 # Set to match ROLL_LIMIT_DEG
+NAVL1_PERIOD,19
+PTCH_RATE_D,0.0029344
+PTCH_RATE_FF,0.36
+PTCH_RATE_FLTD,10
+PTCH_RATE_FLTT,3.183099
+PTCH_RATE_I,0.4009161
+PTCH_RATE_IMAX,0.4
+PTCH_RATE_P,0.09
+PTCH_RATE_SMAX,125
+PTCH_TRIM_DEG,2
+PTCH2SRV_RLL,0.9
+PTCH2SRV_RMAX_DN,45
+PTCH2SRV_RMAX_UP,75
+Q_A_ACCEL_P_MAX,30000
+Q_A_ACCEL_R_MAX,30000
+Q_A_ACCEL_Y_MAX,4500
+Q_A_ANG_PIT_P,1.2
+Q_A_ANG_RLL_P,2
+Q_A_ANG_YAW_P,2.4
+Q_A_RAT_PIT_D,0.012
+Q_A_RAT_PIT_FLTE,7
+Q_A_RAT_PIT_FLTT,10
+Q_A_RAT_PIT_I,0.33
+Q_A_RAT_PIT_SMAX,10
+Q_A_RAT_RLL_D,0.007
+Q_A_RAT_RLL_FLTE,7
+Q_A_RAT_RLL_FLTT,10
+Q_A_RAT_RLL_I,0.34
+Q_A_RAT_RLL_P,0.3
+Q_A_RAT_RLL_SMAX,10
+Q_A_RAT_YAW_D,0.026
+Q_A_RAT_YAW_FLTE,2
+Q_A_RAT_YAW_FLTT,10
+Q_A_RAT_YAW_I,0.2
+Q_A_RAT_YAW_P,2
+Q_A_RAT_YAW_SMAX,10
+Q_A_RATE_P_MAX,60
+Q_A_RATE_R_MAX,60
+Q_A_RATE_Y_MAX,12
+Q_A_SLEW_YAW,1500
+Q_ANGLE_MAX,1500
+Q_ASSIST_SPEED,18
+Q_FRAME_CLASS,1
+Q_FRAME_TYPE,1
+Q_LOIT_ACC_MAX,110
+Q_LOIT_ANG_MAX,10
+Q_LOIT_BRK_ACCEL,40
+Q_LOIT_BRK_DELAY,0.25
+Q_LOIT_BRK_JERK,130
+Q_LOIT_SPEED,300
+Q_M_BAT_VOLT_MAX,50.4
+Q_M_BAT_VOLT_MIN,39.6
+Q_M_SLEW_UP_TIME,0.05
+Q_M_SPIN_ARM,0.07
+Q_M_SPIN_MIN,0.1
+Q_M_THST_EXPO,0.52
+Q_M_THST_HOVER,0.4299014
+Q_M_YAW_HEADROOM,50
+Q_OPTIONS,147489
+Q_P_ACCZ_D,0.01
+Q_P_ACCZ_FLTD,8
+Q_P_ACCZ_FLTE,3
+Q_P_ACCZ_FLTT,8
+Q_P_ACCZ_I,0.76
+Q_P_ACCZ_P,0.38
+Q_P_ANGLE_MAX,10
+Q_P_JERK_XY,2.5
+Q_P_JERK_Z,6
+Q_P_POSXY_P,1.3
+Q_P_POSZ_P,1.3
+Q_P_VELXY_D,0.1
+Q_P_VELXY_FLTD,8
+Q_P_VELXY_I,0.5
+Q_P_VELXY_P,1
+Q_P_VELZ_FLTD,7
+Q_P_VELZ_I,0.8
+Q_P_VELZ_IMAX,4
+Q_P_VELZ_P,4.5
+Q_PILOT_ACCEL_Z,2
+Q_PLT_Y_RATE,12
+Q_TRANS_DECEL,0.8
+Q_VFWD_GAIN,0.05
+Q_WP_JERK,0.7
+Q_WP_SPEED_DN,200
+Q_WVANE_GAIN,3
+RLL_RATE_D,0.012262
+RLL_RATE_FF,0.27
+RLL_RATE_FLTD,10
+RLL_RATE_FLTT,3.183099
+RLL_RATE_I,0.3120202
+RLL_RATE_IMAX,0.4
+RLL_RATE_P,0.26
+RLL_RATE_SMAX,125
+RLL2SRV_RMAX,75
+RNGFND1_GNDCLEAR,20
+RNGFND1_POS_X,-0.12
+RNGFND1_POS_Z,0.05
+RNGFND1_TYPE,24
+ROLL_LIMIT_DEG,40 # Set to match NAVL1_LIM_BANK
+SCALING_SPEED,21
+SERIAL2_BAUD,115
+SERIAL5_BAUD,115
+SERIAL5_PROTOCOL,2
+SERIAL6_BAUD,115
+SERIAL6_PROTOCOL,2
+TECS_CLMB_MAX,3.1
+TECS_PITCH_MAX,10
+TECS_PITCH_MIN,-10
+TECS_PTCH_DAMP,0.5
+TECS_PTCH_FF_V0,19
+TECS_RLL2THR,14
+TECS_SINK_MAX,4
+TECS_TIME_CONST,3
+TRIM_THROTTLE,60
+WP_LOITER_RAD,250
+WP_RADIUS,75
+YAW2SRV_DAMP,1
+YAW2SRV_IMAX,1000
+YAW2SRV_INT,0.7
+YAW2SRV_SLIP,0.75
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/hwdef.dat
new file mode 100644
index 0000000000..dcc2ae1b6c
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/hwdef.dat
@@ -0,0 +1 @@
+include ../CarbonixCommon/cubeorange.inc
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/scripts/cx_built_in_test.lua b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/scripts/cx_built_in_test.lua
new file mode 120000
index 0000000000..dbb50da048
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/scripts/cx_built_in_test.lua
@@ -0,0 +1 @@
+../../CarbonixCommon/scripts/cx_built_in_test.lua
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/scripts/cx_led_driver.lua b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/scripts/cx_led_driver.lua
new file mode 120000
index 0000000000..71087fb1e4
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Volanti/scripts/cx_led_driver.lua
@@ -0,0 +1 @@
+../../CarbonixCommon/scripts/cx_led_driver.lua
\ No newline at end of file