diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md
index ed9cb8a855..626a7ea569 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Miniv2/README.md
@@ -1,14 +1,14 @@
-# KakuteH7Mini Flight Controller
+# KakuteH7Mini v2 Flight Controller
 
-The KakuteH7Mini is a flight controller produced by [Holybro](http://www.holybro.com/).
+The KakuteH7Mini v2 is a flight controller produced by [Holybro](http://www.holybro.com/).
 
 ## Features
 
  - MCU - STM32H743 32-bit processor running at 480 MHz
- - IMU - MPU6000
+ - IMU - BMI270
  - Barometer - BMP280
  - OSD - AT7456E
- - Onboard Flash: 128Mbits
+ - Onboard Flash: 1GBit
  - 6x UARTs (1,2,3,4,6,7)
  - 9x PWM Outputs (8 Motor Output, 1 LED)
  - Battery input voltage: 2S-6S
@@ -16,7 +16,7 @@ The KakuteH7Mini is a flight controller produced by [Holybro](http://www.holybro
 
 ## Pinout
 
-![KakuteH7Mini Board](KakuteH7Mini_Board.jpg "KakuteH7Mini")
+![KakuteH7Mini v2 Board](../KakuteH7Mini/KakuteH7Mini_Board.jpg "KakuteH7Mini v2")
 
 ## UART Mapping
 
@@ -35,9 +35,9 @@ receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
 ## RC Input
 
 RC input is configured on the R6 (UART6_RX) pin. It supports all serial RC
-protocols. For protocols requiring half-duplex serial to transmit
-telemetry (such as FPort) you should setup SERIAL6 as an RC input serial port,
-with half-duplex, pin-swap and inversion enabled.
+protocols except PPM. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should setup SERIAL6 with half-duplex, pin-swap 
+and inversion enabled.
  
 ## FrSky Telemetry
  
@@ -48,11 +48,11 @@ FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set
   
 ## OSD Support
 
-The KakuteH7Mini supports OSD using OSD_TYPE 1 (MAX7456 driver).
+The KakuteH7Mini v2 supports OSD using OSD_TYPE 1 (MAX7456 driver).
 
 ## PWM Output
 
-The KakuteH7Mini supports up to 9 PWM outputs. The pads for motor output
+The KakuteH7Mini v2 supports up to 9 PWM outputs. The pads for motor output
 M1 to M4 on the motor connectors and M5 to M8 on separate pads, plus
 M9 for LED strip or another PWM output.
 
@@ -70,7 +70,7 @@ to use DShot. Channels 1-4 support bi-directional dshot.
 
 ## Battery Monitoring
 
-The board has a builting voltage and current sensor. The current
+The board has a builtin voltage and current sensor. The current
 sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
 LiPo batteries.
 
@@ -84,7 +84,7 @@ The correct battery setting parameters are:
 
 ## Compass
 
-The KakuteH7Mini does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+The KakuteH7Mini v2 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
 
 ## Loading Firmware
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/README.md
new file mode 100644
index 0000000000..45610569ce
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/README.md
@@ -0,0 +1,102 @@
+# KakuteH7 v2 Flight Controller
+
+The KakuteH7 v2 is a flight controller produced by [Holybro](http://www.holybro.com/).
+
+## Features
+
+ - STM32H743 microcontroller
+ - BMI270 IMU
+ - BMP280 barometer
+ - Onboard Flash: 1GBit
+ - AT7456E OSD
+ - 6 UARTs
+ - 9 PWM outputs
+
+## Pinout
+
+![KakuteH7 v2 Board](../KakuteH7/Kakkute_H7_Board_Top__Bottom2.jpg "KakuteH7 v2")
+![KakuteH7 v2 Board](../KakuteH7/Kakkute_H7_Board_Top__Bottom3.jpg "KakuteH7 v2")
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+
+ - SERIAL0 -> USB
+ - SERIAL1 -> UART1 (DJI-RX, DMA-enabled)
+ - SERIAL2 -> UART2 (Telem2, DMA-enabled) (connected to internal BT module)
+ - SERIAL3 -> UART3 (VTX)
+ - SERIAL4 -> UART4 (GPS, DMA-enabled)
+ - SERIAL5 -> not available
+ - SERIAL6 -> UART6 (RX, DMA-enabled)
+ - SERIAL7 -> UART7 (ESC Telemetry)
+
+## RC Input
+
+RC input is configured on the R6 (UART6_RX) pin. It supports all RC
+protocols except PPM. For protocols requiring half-duplex serial to transmit
+telemetry (such as FPort) you should configure SERIAL6 with half-duplex, pin-swap
+and inversion enabled.
+ 
+## FrSky Telemetry
+ 
+FrSky Telemetry is supported using the Tx pin of any UART including SERIAL6/UART6 . You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL6).
+ 
+  - SERIAL6_PROTOCOL 10
+  - SERIAL6_OPTIONS 7
+  
+## OSD Support
+
+The KakuteH7 v2 supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## VTX Support
+
+The JST-GH-6P connector supports a standard DJI HD VTX connection. Pin 1 of the connector is 9v so be careful not to connect
+this to a peripheral requiring 5v. The 9v supply is controlled by RELAY_PIN2 and is on by default. It can be configured to be operated by an RC switch by selecting the function RELAY2.
+
+## PWM Output
+
+The KakuteH7 supports up to 9 PWM outputs. The pads for motor output
+M1 to M8 on the two motor connectors, plus M9 for LED strip or another
+PWM output.
+
+The PWM is in 5 groups:
+
+ - PWM 1, 2 in group1
+ - PWM 3, 4 in group2
+ - PWM 5, 6 in group3
+ - PWM 7, 8 in group4
+ - PWM 9 in group5
+
+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. Channels 1-8 support bi-directional DShot.
+
+## Battery Monitoring
+
+The board has a builtin voltage and current sensor. The current
+sensor can read up to 130 Amps. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 10
+ - BATT_CURR_PIN 11
+ - BATT_VOLT_MULT 10.1
+ - BATT_AMP_PERVLT 17.0
+
+## Compass
+
+The KakuteH7 v2 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pads.
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+bootloader button pressed. Then you should load the "with_bl.hex"
+firmware, using your favourite DFU loading tool.
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files.
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/defaults.parm
new file mode 100644
index 0000000000..387d905a21
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/defaults.parm
@@ -0,0 +1,6 @@
+# setup for LEDs on chan9
+SERVO9_FUNCTION 120
+NTF_LED_TYPES 257
+# Default VTX power to on
+RELAY_DEFAULT 1
+SERIAL7_PROTOCOL 16
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/hwdef-bl.dat
new file mode 100644
index 0000000000..ca591a491e
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/hwdef-bl.dat
@@ -0,0 +1,4 @@
+include ../KakuteH7-bdshot/hwdef-bl.dat
+
+## pull up VTX power
+PB11 VTX_PWR OUTPUT HIGH GPIO(81)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/hwdef.dat
new file mode 100644
index 0000000000..1d31b70a7b
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7v2/hwdef.dat
@@ -0,0 +1,57 @@
+# KakuteH7 v2 with flash chip for logging
+
+include ../KakuteH7-bdshot/hwdef.dat
+
+undef sdcard
+undef icm20689
+undef IMU
+undef HAL_OS_FATFS_IO
+undef HAL_BOARD_LOG_DIRECTORY
+undef HAL_BOARD_TERRAIN_DIRECTORY
+undef PA3 PA0 PA2 PC8 PC9 PD8 PD9 PD0 PD1 PC6 PC7 PE7 PE8
+
+MCU_CLOCKRATE_MHZ 480
+
+# Holybro documentation:
+# UART6 - RX
+# UART1 - DJI RX
+# UART4 - GPS
+# UART3 - VTX
+
+# USART3 (VTX)
+PD8 USART3_TX USART3 NODMA
+PD9 USART3_RX USART3 NODMA
+
+# UART4 (GPS)
+PD0 UART4_RX UART4
+PD1 UART4_TX UART4
+
+# UART6 (RX)
+PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+
+# UART7 (ESC Telemetry)
+PE7 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+PA0  TIM5_CH1 TIM5 PWM(5) GPIO(54) BIDIR
+PA2  TIM5_CH3 TIM5 PWM(6) GPIO(55) BIDIR
+PC8  TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
+PC9  TIM8_CH4 TIM8 PWM(8) GPIO(57)
+
+# VTX Power control - should be high at startup to ensure power
+PB11 VTX_PWR OUTPUT HIGH GPIO(81)
+define RELAY2_PIN_DEFAULT 81
+
+SPIDEV dataflash SPI1 DEVID1 SDCARD_CS      MODE3 104*MHZ 104*MHZ
+SPIDEV bmi270    SPI4 DEVID1 ICM20689_CS    MODE3  1*MHZ  4*MHZ
+
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180
+
+DMA_PRIORITY TIM3* TIM2* TIM5* TIM8*
+DMA_NOSHARE *UP
+
+# Motor order implies Betaflight/X for standard ESCs
+define HAL_FRAME_TYPE_DEFAULT 12
+define HAL_LOGGING_DATAFLASH_ENABLED 1
+define HAL_LOGGING_DATAFLASH_DRIVER AP_Logger_W25N01GV