diff --git a/Tools/bootloaders/JFB-X_bl.bin b/Tools/bootloaders/JFB-X_bl.bin
new file mode 100644
index 0000000000000..06d3969c94474
Binary files /dev/null and b/Tools/bootloaders/JFB-X_bl.bin differ
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/README.md b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/README.md
new file mode 100644
index 0000000000000..a5f52fdd550d8
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/README.md
@@ -0,0 +1,140 @@
+# JFB-110 Flight Controller
+
+The JFB-110 flight controller is sold by [JAE](https://www.jae.com/Motion_Sensor_Control/eVTOL/FlightController/)
+
+## Features
+
+ - STM32H755 microcontroller
+ - Three IMUs: SCHA63T and IIM42652 x2
+ - Two BAROs: MS5611 SPI barometer x2
+ - builtin I2C IST8310 magnetometer
+ - microSD card slot
+ - 5 UARTs plus USB, RCIN, SBUS_OUT
+ - 16 PWM outputs
+ - Four I2C and two CAN ports
+ - External Buzzer (Open/Drain and 33V Out)
+ - external safety Switch
+ - voltage monitoring for servo rail and Vcc
+ - two dedicated power input ports for external power bricks
+
+## UART Mapping
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART7  (Telem1)
+ - SERIAL2 -> UART5  (Telem2)
+ - SERIAL3 -> USART1 (GPS)
+ - SERIAL4 -> UART4  (GPS2, marked UART/I2CB)
+ - SERIAL5 -> USART6 (RCIN)
+ - SERIAL6 -> UART8  (SBUS_OUT)
+ - SERIAL7 -> USART3 (debug)
+ - SERIAL8 -> USB    (SLCAN)
+
+
+The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
+have RTS/CTS.
+
+The USART3 connector is labelled debug, but is available as a general
+purpose UART with ArduPilot.
+
+## RC Input
+ 
+RC input is configured on the port marked DSM/SBUS RC. This connector
+supports all RC protocols. Two cables are available for this port. To
+use software binding of Spektrum satellite receivers you need to use
+the Spektrum satellite cable.
+
+## PWM Output
+
+The JFB-110 supports up to 16 PWM outputs. 
+These are directly attached to the STM32H755 and support all
+PWM protocols.
+
+The 16 PWM outputs are in 6 groups:
+ - PWM 1 and 2 in group1 (TIM15)
+ - PWM 3 and 4 in group2 (TIM3) 
+ - PWM 5, 11 ,12 and 13 in group3 (TIM4)
+ - PWM 6 ,9 and 10 in group4 (TIM1)
+ - PWM 7 ,8 and 15 in group5 (TIM5)
+ - PWM 14 and 16 in group6 (TIM12)
+
+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.
+
+## Battery Monitoring
+
+The board has two dedicated power monitor ports on 8 pin
+connectors. The correct battery setting parameters are dependent on
+the type of power brick which is connected.
+Recomended input voltage is 4.9 to 5.5 volt.
+
+## Compass
+
+The JFB-110 has a builtin IST8310 compass. Due to potential
+interference the board is usually used with an external I2C compass as
+part of a GPS/Compass combination.
+
+## GPIOs
+
+The 16 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
+use them you need to limit the number of these pins that is used for
+PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
+if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
+use as GPIOs.
+
+The numbering of the GPIOs for PIN variables in ArduPilot is:
+ - PWM(1)  50
+ - PWM(2)  51
+ - PWM(3)  52
+ - PWM(4)  53
+ - PWM(5)  54
+ - PWM(6)  55
+ - PWM(7)  56
+ - PWM(8)  57
+ - PWM(9)  58
+ - PWM(10) 59
+ - PWM(11) 60
+ - PWM(12) 61
+ - PWM(13) 62
+ - PWM(14) 63
+ - PWM(15) 64
+ - PWM(16) 65
+ - FMU_CAP1 66
+ - FMU_CAP2 67
+ 
+
+## Analog inputs
+
+The JFB-110 has 9 analog inputs
+ - ADC Pin16 -> Battery Voltage
+ - ADC Pin18 -> Battery Current Sensor
+ - ADC Pin9  -> Battery Voltage 2
+ - ADC Pin6  -> Battery Current Sensor 2
+ - ADC Pin5  -> ADC 5V Sense
+ - ADC Pin11 -> ADC 3.3V Sense
+ - ADC Pin10 -> RSSI voltage monitoring
+ - ADC Pin13 -> ADC SPARE 1
+ - ADC Pin12 -> ADC SPARE 2
+ 
+## I2C Buses
+
+The JFB-110 has 4 I2C interfaces.
+I2C 3 is for internal only.
+ - the internal I2C port  is bus 3 in ArduPilot (I2C3 in hardware)
+ - the port labelled I2CA is bus 4 in ArduPilot (I2C4 in hardware)
+ - the port labelled I2CB is bus 2 in ArduPilot (I2C2 in hardware)
+ - the port labelled GPS  is bus 1 in ArduPilot (I2C1 in hardware)
+
+## CAN
+
+The JFB-110 has two independent CAN buses, with the following pinouts.
+
+## Debug
+
+The JFB-110 supports SWD debugging on the debug port
+
+## Loading Firmware
+
+The board comes pre-installed with an ArduPilot compatible bootloader,
+allowing the loading of *.apj firmware files with any ArduPilot
+compatible ground station.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/defaults.parm
new file mode 100644
index 0000000000000..4207e693ce825
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/defaults.parm
@@ -0,0 +1,19 @@
+# board setting
+BRD_VBUS_MIN 4.9
+
+# setup SERIAL5 to RCIN
+SERIAL5_PROTOCOL 23
+
+# setup SERIAL6 to SBUS OUT
+SERIAL6_BAUD 100
+SERIAL6_PROTOCOL 15
+SERIAL6_OPTIONS 3
+
+#Three IMU Setting
+EK3_IMU_MASK 7
+
+
+#RSSI Setting
+RSSI_TYPE 1
+RSSI_ANA_PIN 10
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef-bl.dat
new file mode 100644
index 0000000000000..f357c1b03e916
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef-bl.dat
@@ -0,0 +1,139 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the JFB110 hardware
+
+# board ID for firmware load
+APJ_BOARD_ID 1110
+
+# MCU class and specific type
+MCU STM32H7xx STM32H755xx
+define CORE_CM7
+#define SMPS_PWR
+
+# crystal frequency 24MHz
+OSCILLATOR_HZ 24000000
+
+# the location where the bootloader will put the firmware
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+# the H755 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 128
+# with 2M flash we can afford to optimize for speed
+FLASH_SIZE_KB 2048
+HAL_STORAGE_SIZE 32768
+
+env OPTIMIZE -Os
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# USB setup
+# USB_VENDOR 0x0A8E  # JAE
+# USB_PRODUCT 0x8888 # This is temp Number
+USB_STRING_MANUFACTURER "Japan Aviation Electronics Industry Ltd."
+USB_STRING_PRODUCT "JFB-110"
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART3
+
+# serial port for stdout, set SERIAL7_PROTOCOL 0(none) when using
+# The value for STDOUT_SERIAL is a serial device name, and must be for a 
+# serial device for which pins are defined in this file. For example, SD3
+# is for USART3 (SD3 == "serial device 3" in ChibiOS).
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 921600
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# USB OTG1 SERIAL0
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PH3  SCHA63T_G_CS CS   # SPI1_CS1
+PH4  SCHA63T_A_CS CS   # SPI1_CS2
+PH5  MS5611_2_CS CS    # SPI1_CS3
+PG6  AT25512_CS CS     # SPI1_CS4
+PG7  FRAM_CS CS        # SPI3_CS1
+PF10 IIM42652_1_CS CS  # SPI3_CS2
+PH15 MS5611_1_CS CS    # SPI4_CS1
+PG15 IIM42652_2_CS CS  # SPI4_CS2
+
+# telem1 
+PE8  UART7_TX  UART7
+PE10 UART7_CTS UART7
+PF6  UART7_RX  UART7
+PF8  UART7_RTS UART7
+
+# telem2
+PC12 UART5_TX  UART5
+PC9  UART5_CTS UART5
+PD2  UART5_RX  UART5
+PC8  UART5_RTS UART5
+
+# debug uart
+PD8  USART3_TX USART3 NODMA
+PD9  USART3_RX USART3 NODMA
+
+# armed indication
+PB10 nARMED OUTPUT HIGH  # TP8
+
+# This defines an output pin which will default to output HIGH. It is
+# a pin that enables peripheral power on this board. It starts in the
+# off state, then is pulled low to enable peripherals in
+# peripheral_power_enable()
+PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN  OUTPUT HIGH
+PG12 VDD_3V3_SENSORS_EN OUTPUT LOW
+PD4  VDD_3V3_SENSORS2_EN OUTPUT LOW
+PD3  VDD_3V3_SENSORS3_EN OUTPUT LOW
+#VDD_3V3_SENSORS4_EN OUTPUT LOW
+#VDD_3V3_SD_CARD_EN  OUTPUT LOW
+
+# PWM output pins
+# we need to disable DMA on the last 2 FMU channels
+# as timer 12 doesn't have a TIMn_UP DMA option
+PA2  PWMOUT1  OUTPUT LOW
+PE6  PWMOUT2  OUTPUT LOW
+PA7  PWMOUT3  OUTPUT LOW
+PA6  PWMOUT4  OUTPUT LOW
+PD15 PWMOUT5  OUTPUT LOW
+PE9  PWMOUT6  OUTPUT LOW
+PH11 PWMOUT7  OUTPUT LOW
+PH10 PWMOUT8  OUTPUT LOW
+PA10 PWMOUT9  OUTPUT LOW
+PA9  PWMOUT10 OUTPUT LOW
+PD14 PWMOUT11 OUTPUT LOW
+PD13 PWMOUT12 OUTPUT LOW
+PD12 PWMOUT13 OUTPUT LOW
+PH9  PWMOUT14 OUTPUT LOW
+PH12 PWMOUT15 OUTPUT LOW
+PH6  PWMOUT16 OUTPUT LOW
+PD11 PWM_OE   OUTPUT HIGH
+PD5  PWM_OE2  OUTPUT HIGH
+
+# controlled manually
+PG13 GPIO_CAN1_SILENT OUTPUT PUSHPULL HIGH
+PG8  GPIO_CAN2_SILENT OUTPUT PUSHPULL HIGH
+
+# Control of Spektrum power pin
+PH2 SPEKTRUM_PWR OUTPUT LOW GPIO(69)
+
+# LEDs
+#PE3 LED_RED OUTPUT OPENDRAIN GPIO(70) HIGH
+##PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW
+##PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(72) LOW
+
+PE3 LED_BOOTLOADER OUTPUT HIGH
+PE4 LED_ACTIVITY OUTPUT HIGH
+define HAL_LED_ON 0
+
+#define HAL_USE_EMPTY_STORAGE 1
+#define HAL_STORAGE_SIZE 32768
+
+# enable DFU by default
+#ENABLE_DFU_BOOT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef.dat
new file mode 100644
index 0000000000000..e341e05b4fb60
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB-X/hwdef.dat
@@ -0,0 +1,368 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the JFB110 hardware
+
+# board ID for firmware load
+APJ_BOARD_ID 1110
+
+# MCU class and specific type
+MCU STM32H7xx STM32H755xx
+define CORE_CM7
+#define SMPS_PWR
+
+# crystal frequency 24MHz
+OSCILLATOR_HZ 24000000
+
+# the H755 has 128k sectors
+# bootloader is installed at 128kb offset
+FLASH_BOOTLOADER_LOAD_KB 128
+FLASH_RESERVE_START_KB 128
+FLASH_SIZE_KB 2048
+HAL_STORAGE_SIZE 32768
+
+# USB setup
+# USB_VENDOR 0x0A8E  # JAE
+USB_STRING_MANUFACTURER "Japan Aviation Electronics Industry Ltd."
+USB_STRING_PRODUCT "JFB-110"
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# enable board sub-type detection
+define CONFIG_HAL_BOARD HAL_BOARD_CHIBIOS
+#define HAL_CHIBIOS_ARCH_FMUV6 1
+#define AP_FEATURE_BOARD_DETECT 1
+#define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5
+#define HAL_CHIBIOS_ARCH_FMUV5 1
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+# SERIAL    | 0  |  1  |  2  |  3   |  4  |  5   |  6  |  7   |  8  |
+SERIAL_ORDER OTG1 UART7 UART5 USART1 UART4 USART6 UART8 USART3 OTG2
+#USART6 is RX only for SBUS_IN
+#UART8 is TX only for SBUS_OUT
+
+# serial port for stdout, set SERIAL7_PROTOCOL 5(GPS) when using
+# The value for STDOUT_SERIAL is a serial device name, and must be for a 
+# serial device for which pins are defined in this file. For example, SD3
+# is for USART3 (SD3 == "serial device 3" in ChibiOS).
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 921600
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# USB OTG1 SERIAL0
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+# default the 2nd interface to MAVLink2
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# telem1 
+PE8  UART7_TX  UART7 SPEED_VERYLOW
+PE10 UART7_CTS UART7 SPEED_VERYLOW
+PF6  UART7_RX  UART7 SPEED_VERYLOW
+PF8  UART7_RTS UART7 SPEED_VERYLOW
+
+# telem2
+PC12 UART5_TX  UART5 SPEED_VERYLOW
+PC9  UART5_CTS UART5 SPEED_VERYLOW
+PD2  UART5_RX  UART5 SPEED_VERYLOW
+PC8  UART5_RTS UART5 SPEED_VERYLOW
+
+# telem3
+PA3 USART2_RX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+PD5 USART2_TX USART2
+
+# GPS1
+PB6  USART1_TX USART1 SPEED_VERYLOW
+PB7  USART1_RX USART1 SPEED_VERYLOW
+
+# uart4
+PH13 UART4_TX UART4 SPEED_VERYLOW
+PH14 UART4_RX UART4 SPEED_VERYLOW
+
+# TX Only, for SBUS OUT
+PE0  UART8_RX UART8 SPEED_VERYLOW   #TP3
+PE1  UART8_TX UART8 SPEED_VERYLOW
+
+# RX only, for RC input
+#PG14 USART6_TX USART6 SPEED_VERYLOW  #TP10
+PG9  USART6_RX USART6 SPEED_VERYLOW
+
+# debug uart
+PD8  USART3_TX USART3 SPEED_VERYLOW NODMA
+PD9  USART3_RX USART3 SPEED_VERYLOW NODMA
+
+# ADC
+PA0   BATT_VOLTAGE_SENS ADC1 SCALE(1)   # ADC1_16
+PA4   BATT_CURRENT_SENS ADC1 SCALE(1)   # ADC1_18
+PF5   BATT2_VOLTAGE_SENS ADC3 SCALE(1)  # ADC3_4
+PF12  BATT2_CURRENT_SENS ADC1 SCALE(1)  # ADC1_6
+
+# setup scaling defaults for supplied power brick
+define HAL_BATT_VOLT_SCALE  1 #18.182
+define HAL_BATT_CURR_SCALE  1 #36.364
+define HAL_BATT2_VOLT_SCALE 1 #18.182
+define HAL_BATT2_CURR_SCALE 1 #36.364
+define HAL_BATT_VOLT_PIN  16
+define HAL_BATT_CURR_PIN  18
+define HAL_BATT2_VOLT_PIN 4
+define HAL_BATT2_CURR_PIN 6
+
+# Now the VDD sense pin. This is used to sense primary board voltage.
+PH4  VDD_5V_SENS ADC3 SCALE(2)  # ADC3_15
+define ANALOG_VCC_5V_PIN 15
+define HAL_HAVE_BOARD_VOLTAGE 1
+PA9 VBUS_RESERVED INPUT
+
+# JFB110 has SERVORAIL ADC
+PF11  SCALED_V3V3 ADC1 SCALE(2)       # ADC1_2
+#PA3  FMU_SERVORAIL_VCC_SENS ADC1 SCALE(2) # ADC1_15
+
+PC0  RSSI_IN ADC1 SCALE(1)       # ADC1_10
+define RSSI_ANA_PIN 10
+
+PC2 ADC1_6V6 ADC1 SCALE(2)       # ADC1_12
+PC3 ADC1_3V3 ADC1 SCALE(1)       # ADC1_13
+
+# This defines an output pin which will default to output HIGH. It is
+# a pin that enables peripheral power on this board. It starts in the
+# off state, then is pulled low to enable peripherals in
+# peripheral_power_enable()
+PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN  OUTPUT HIGH
+PG12 VDD_3V3_SENSORS_EN OUTPUT LOW
+PJ5  VDD_3V3_SENSORS2_EN OUTPUT LOW
+PJ4  VDD_3V3_SENSORS3_EN OUTPUT LOW
+PG8 VDD_3V3_SENSORS4_EN OUTPUT LOW
+#VDD_3V3_SD_CARD_EN OUTPUT LOW
+
+# controlled manually
+PK5  GPIO_CAN1_SILENT OUTPUT PUSHPULL LOW
+PK4  GPIO_CAN2_SILENT OUTPUT PUSHPULL LOW
+
+# Control of Spektrum power pin
+# no SPEKTRUM_RC pin so this is controlled
+# manually
+PJ14 SPEKTRUM_PWR OUTPUT HIGH GPIO(69)
+define HAL_GPIO_SPEKTRUM_PWR 69
+define HAL_SPEKTRUM_PWR_ENABLED 1
+
+#Checked in Analogin.cpp -> MAV_POWER_STATUS
+PG1 VDD_BRICK_nVALID    INPUT
+PG2 VDD_BRICK2_nVALID   INPUT
+PG3 VBUS_nVALID         INPUT
+PJ15 VDD_5V_PERIPH_nOC  INPUT
+PF13 VDD_5V_HIPOWER_nOC INPUT
+
+# ID pins
+PG0 HW_VER_REV_DRIVE OUTPUT LOW SPEED_VERYLOW
+PF4 HW_VER_SENS ADC3 SCALE(1)  # ADC3_9
+PF3 HW_REV_SENS ADC3 SCALE(1)  # ADC3_5
+
+# SPI1 - IMU1(murata),MS5611(BARO),EEPROM
+PA5  SPI1_SCK     SPI1 SPEED_VERYLOW
+PB5  SPI1_MOSI    SPI1 SPEED_VERYLOW
+PA6  SPI1_MISO    SPI1 SPEED_VERYLOW
+PJ2  SCHA63T_A_CS CS   SPEED_VERYLOW  # SPI1_CS1
+PJ3  SCHA63T_G_CS CS   SPEED_VERYLOW  # SPI1_CS2
+PH15  MS5611_1_CS  CS   SPEED_VERYLOW  # SPI1_CS3
+PG6  AT25512_CS   CS   SPEED_VERYLOW  # SPI1_CS4
+
+# SPI2
+
+# SPI3 - FRAM,IMU2(42652)
+PB2  SPI3_MOSI   SPI3 SPEED_VERYLOW
+PC10 SPI3_SCK    SPI3 SPEED_VERYLOW
+PC11 SPI3_MISO   SPI3 SPEED_VERYLOW
+PG7  FRAM_CS     CS   SPEED_VERYLOW  # SPI3_CS1
+PF10 IIM42652_CS CS   SPEED_VERYLOW  # SPI3_CS2
+
+# SPI4 - MS5611(BARO),IMU3(42652),
+PE12 SPI4_SCK      SPI4 SPEED_VERYLOW
+PE6  SPI4_MOSI     SPI4 SPEED_VERYLOW
+PE13 SPI4_MISO     SPI4 SPEED_VERYLOW
+PG15 MS5611_2_CS   CS   SPEED_VERYLOW  # SPI4_CS1
+PH5  IIM42652_2_CS CS   SPEED_VERYLOW  # SPI4_CS2
+
+# SPI5 - External SPI I/F
+#PF7  SPI5_SCK  SPI5 SPEED_VERYLOW
+#PH7  SPI5_MISO SPI5 SPEED_VERYLOW
+#PJ10 SPI5_MOSI SPI5 SPEED_VERYLOW
+#PE2  SPI5_CS1  CS   SPEED_VERYLOW
+#PD11 SPI5_CS2  CS
+
+# IMU Device Ready Signal Input
+PA15  DRDY1_IIM42652_1 INPUT
+PF2   DRDY2_IIM42652_1 INPUT
+PK3   DRDY1_IIM42652_2 INPUT
+PK7   DRDY2_IIM42652_2 INPUT
+
+PE7  SCHA63T_RESET OUTPUT LOW
+
+# SPI devices
+SPIDEV scha63t_g  SPI1 DEVID1  SCHA63T_G_CS  MODE0 10*MHZ 10*MHZ
+SPIDEV scha63t_a  SPI1 DEVID2  SCHA63T_A_CS  MODE0 10*MHZ 10*MHZ
+SPIDEV ms5611_1   SPI1 DEVID3  MS5611_1_CS   MODE3 20*MHZ 20*MHZ
+SPIDEV at25512    SPI1 DEVID4  AT25512_CS    MODE3  2*MHZ  8*MHZ
+SPIDEV ramtron    SPI3 DEVID1  FRAM_CS       MODE3  8*MHZ  8*MHZ
+SPIDEV iim42652_1 SPI3 DEVID2  IIM42652_CS   MODE3  2*MHZ  8*MHZ
+SPIDEV ms5611_2   SPI4 DEVID1  MS5611_2_CS   MODE3 20*MHZ 20*MHZ
+SPIDEV iim42652_2 SPI4 DEVID2  IIM42652_2_CS MODE3  2*MHZ  8*MHZ
+#define HAL_SPI_CHECK_CLOCK_FREQ
+
+# JFB110 has 3 IMUs
+# IMU devices for JFB110. The JFB110 board has a SCHA63T, two ICM42652,
+# the SCHA63T and ICM42652_1 are on the same SPI buses and CS pins.
+# The IIM42652_2 is on a different bus
+IMU SCHA63T      SPI:scha63t_a SPI:scha63t_g  ROTATION_NONE
+IMU Invensensev3 SPI:iim42652_1               ROTATION_NONE
+IMU Invensensev3 SPI:iim42652_2               ROTATION_NONE
+
+# JFB110 has 2 BAROs
+BARO MS56XX SPI:ms5611_1
+BARO MS56XX SPI:ms5611_2
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# PWM output pins
+# we need to disable DMA on the last 2 FMU channels
+# as timer 12 doesn't have a TIMn_UP DMA option
+PI5  TIM8_CH1  TIM8  PWM(1)  GPIO(50) SPEED_VERYLOW
+PE14 TIM1_CH4  TIM1  PWM(2)  GPIO(51) SPEED_VERYLOW
+PC7  TIM3_CH2  TIM3  PWM(3)  GPIO(52) SPEED_VERYLOW
+PC6  TIM3_CH1  TIM3  PWM(4)  GPIO(53) SPEED_VERYLOW
+PD15 TIM4_CH4  TIM4  PWM(5)  GPIO(54) SPEED_VERYLOW
+PE9  TIM1_CH1  TIM1  PWM(6)  GPIO(55) SPEED_VERYLOW
+PI7  TIM8_CH3  TIM8  PWM(7)  GPIO(56) SPEED_VERYLOW
+PI2  TIM8_CH4  TIM8  PWM(8)  GPIO(57) SPEED_VERYLOW
+PA10 TIM1_CH3  TIM1  PWM(9)  GPIO(58) SPEED_VERYLOW
+PJ11 TIM1_CH2  TIM1  PWM(10) GPIO(59) SPEED_VERYLOW
+PD14 TIM4_CH3  TIM4  PWM(11) GPIO(60) SPEED_VERYLOW
+PD13 TIM4_CH2  TIM4  PWM(12) GPIO(61) SPEED_VERYLOW
+PD12 TIM4_CH1  TIM4  PWM(13) GPIO(62) SPEED_VERYLOW
+PB1  TIM3_CH4  TIM3  PWM(14) GPIO(63) SPEED_VERYLOW
+PI6  TIM8_CH2  TIM8  PWM(15) GPIO(64) SPEED_VERYLOW
+PB0  TIM3_CH3  TIM3  PWM(16) GPIO(65) SPEED_VERYLOW
+PK2  PWM_OE OUTPUT HIGH
+PJ12 PWM_OE2 OUTPUT HIGH
+
+# GPIOs
+PE11 FMU_CAP1 INPUT GPIO(66)
+PB11 FMU_CAP2 INPUT GPIO(67)
+
+# CAN bus
+PD0  CAN1_RX CAN1 SPEED_VERYLOW
+PD1  CAN1_TX CAN1 SPEED_VERYLOW
+PB12 CAN2_RX CAN2 SPEED_VERYLOW
+PB13 CAN2_TX CAN2 SPEED_VERYLOW
+
+# I2C buses
+# I2C1, GPS+MAG
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# I2C2, GPS2+MAG
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C3, IST8310 Internal
+PA8 I2C3_SCL I2C3 SPEED_VERYLOW
+PH8 I2C3_SDA I2C3 SPEED_VERYLOW
+
+# I2C4 external
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C3 I2C1 I2C2 I2C4
+define HAL_I2C_INTERNAL_MASK 1
+
+# this board is very tight on DMA channels. To allow for more UART DMA
+# we disable DMA on I2C. This also prevents a problem with DMA on I2C
+# interfering with IMUs
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+
+# builtin compass on JAE JFB110
+define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_270
+COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true  ROTATION_ROLL_180_YAW_90
+
+# armed indication
+PB10 nARMED OUTPUT HIGH  # TP8
+
+# microSD support
+PD6  SDMMC2_CK  SDMMC2 SPEED_VERYLOW
+PD7  SDMMC2_CMD SDMMC2 SPEED_VERYLOW
+PB14 SDMMC2_D0  SDMMC2 SPEED_VERYLOW
+PB15 SDMMC2_D1  SDMMC2 SPEED_VERYLOW
+PB3  SDMMC2_D2  SDMMC2 SPEED_VERYLOW
+PB4  SDMMC2_D3  SDMMC2 SPEED_VERYLOW
+define FATFS_HAL_DEVICE SDCD2
+PC13 SD_CARD_EN INPUT
+
+# safety
+PD10 LED_SAFETY OUTPUT
+PJ13 SAFETY_IN INPUT PULLDOWN
+
+# LEDs
+PE3 LED_RED   OUTPUT OPENDRAIN GPIO(70) HIGH SPEED_VERYLOW
+PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW SPEED_VERYLOW
+PK6 LED_BLUE  OUTPUT OPENDRAIN GPIO(72) HIGH SPEED_VERYLOW
+
+# setup for "AP_BoardLED" RGB LEDs
+define HAL_GPIO_A_LED_PIN 72
+define HAL_GPIO_B_LED_PIN 70
+#define HAL_GPIO_C_LED_PIN 71
+define HAL_GPIO_LED_ON 0
+
+# PWM output for buzzer
+PF9 TIM14_CH1 TIM14 GPIO(73) ALARM SPEED_VERYLOW
+
+# RC input (PPM)
+PH6 TIM12_CH1 TIM12 RCININT PULLDOWN LOW
+
+# enable RAMTRON parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# allow to have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+
+DMA_PRIORITY SDMMC* UART* USART* ADC* SPI* TIM*
+
+# 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
+
+# External watchdog gpio
+PG5 EXT_WDOG OUTPUT SPEED_VERYLOW
+define EXT_WDOG_INTERVAL_MS 50
+
+
+# Ethernet
+PA1  ETH_RMII_REF_CLK  ETH1
+PA2  ETH_MDIO          ETH1
+PA7  ETH_RMII_CRS_DV   ETH1
+PC1  ETH_MDC           ETH1
+PC4  ETH_RMII_RXD0     ETH1
+PC5  ETH_RMII_RXD1     ETH1
+PG11 ETH_RMII_TX_EN    ETH1
+PG13 ETH_RMII_TXD0     ETH1
+PG14 ETH_RMII_TXD1     ETH1
+
+define BOARD_PHY_ID  MII_LAN8742A_ID
+define BOARD_PHY_RMII
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H755xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H755xx.py
index 2e29865e1cd52..939e1e19b0d52 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H755xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H755xx.py
@@ -1285,3 +1285,40 @@
     "PA4"	:	18,
     "PA5"	:	19,
 }
+
+ADC2_map = {
+    "PF13"	:	2,
+    "PA6"	:	3,
+    "PC4"	:	4,
+    "PB1"	:	5,
+    "PF14"	:	6,
+    "PA7"	:	7,
+    "PC5"	:	8,
+    "PB0"	:	9,
+    "PC0"	:	10,
+    "PC1"	:	11,
+    "PC2"	:	12,
+    "PC3"	:	13,
+    "PA2"	:	14,
+    "PA3"	:	15,
+    "PA4"	:	18,
+    "PA5"	:	19,
+}
+
+ADC3_map = {
+    "PF9"	:	2,
+    "PF7"	:	3,
+    "PF5"	:	4,
+    "PF3"	:	5,
+    "PF10"	:	6,
+    "PF8"	:	7,
+    "PF6"	:	8,
+    "PF4"	:	9,
+    "PC0"	:	10,
+    "PC1"	:	11,
+    "PC2"	:	12,
+    "PH2"	:	13,
+    "PH3"	:	14,
+    "PH4"	:	15,
+    "PH5"	:	16,
+}