diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/README.md b/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/README.md
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+# iFlight Beast H7 v2 55A AIO Flight Controller
+
+https://shop.iflight-rc.com/Beast-H7-V2-55A-AIO-MPU6000-25.5-25.5-pro1588
+
+The Beast H7 AIO is a flight controller produced by [iFlight](https://shop.iflight-rc.com/).
+
+## Features
+
+ - MCU: BGA-STM32H743
+ - Gyro: BMI270
+ - 16Mb Onboard Flash
+ - BEC output: 5V 2.5A 
+ - No Barometer
+ - OSD: AT7456E
+ - 5 UARTS: (UART1, UART2, UART3, UART4, UART7)
+ - I2C for external compass. UART3 pins are used for I2C (BRD_ALT_CONFIG=1)
+ - 5 PWM outputs (4 motors and 1 LED)
+
+## Pinout
+
+![Beast H7 v2 AIO Board](beast_h7v2_pinout.jpg "Beast H7 v2 AIO")
+
+## UART Mapping
+
+The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the
+receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
+|Name|Pin|Function|
+|:-|:-|:-|
+|SERIAL0|COMPUTER|USB|
+|SERIAL1|RX1/TX1|UART1 (DJI connector)|
+|SERIAL2|TX2/RX2|UART2 (DJI connector, TX is on the back side of board)|
+|SERIAL3|TX3/RX3|UART3|
+|SERIAL4|TX4/RX4|UART4|
+|SERIAL7|TX7/RX7|UART7 (GPS)|
+
+All UARTS support DMA.
+
+## RC Input
+ 
+RC input is configured on the (UART2_RX/UART2_TX) pins which forms part of the DJI connector. It supports all RC protocols.
+  
+## OSD Support
+
+The Beast H7 v2 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).
+
+## PWM Output
+
+The Beast H7 AIO supports up to 4 PWM outputs. The pads for motor output ESC1 to ESC4 on the above diagram are for the 4 outputs. All 4 outputs support DShot as well as all PWM types.
+
+The PWM are in in two groups.
+
+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 a builtin voltage sensor. The voltage sensor can handle up to 6S
+LiPo batteries.
+
+The correct battery setting parameters are:
+
+ - BATT_MONITOR 4
+ - BATT_VOLT_PIN 12
+ - BATT_VOLT_MULT around 10.9
+ - BATT_CURR_PIN 13
+ - BATT_CURR_MULT around 28.5
+
+These are set by default in the firmware and shouldn't need to be adjusted
+
+## Compass
+
+The Beast H7 v2 AIO does not have a builtin compass, but you can attach an external compass to I2C pins. Default configuration does not have I2C bus enabled. You need to set BRD_ALT_CONFIG=1 to make I2C use RX3/TX3 pins.
+
+## NeoPixel LED
+
+The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output.
+
+## 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/BeastH7v2/beast_h7v2_pinout.jpg b/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/beast_h7v2_pinout.jpg
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/defaults.parm
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+# setup for LEDs on chan5
+SERVO5_FUNCTION 120
+NTF_LED_TYPES 257
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef-bl.dat
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+include ../BeastH7/hwdef-bl.dat
+undef APJ_BOARD_ID
+APJ_BOARD_ID 1056
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BeastH7v2/hwdef.dat
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+# hw definition file for processing by chibios_pins.py
+# for iFlight Beast H7 v2 hardware, based on Beast H7 v1
+# thanks to betaflight for pin information
+
+include ../BeastH7/hwdef.dat
+undef APJ_BOARD_ID
+undef HAL_SERIAL3_PROTOCOL
+undef IMU
+undef BARO
+undef STM32_PWM_USE_ADVANCED
+undef PD15 #Buzzer
+undef PE9 PE11 # Motors
+undef HAL_DEFAULT_INS_FAST_SAMPLE DMA_PRIORITY DMA_NOSHARE
+undef I2C1
+
+# board ID for firmware load
+APJ_BOARD_ID 1056
+
+# V2 has different motor mapping
+PB4 TIM3_CH1 TIM3 PWM(2) GPIO(51) BIDIR   # 2
+PB5 TIM3_CH2 TIM3 PWM(3) GPIO(52) BIDIR   # 3
+
+# only one I2C bus
+I2C_ORDER I2C2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 EMPTY EMPTY UART7
+define HAL_SERIAL2_PROTOCOL SerialProtocol_RCIN
+
+# Buzzer - DMA timer channel use by LEDs
+PD2 BUZZER OUTPUT GPIO(80) LOW
+
+# I2C2 for compass. These pins can also be used as USART3
+PB10 I2C2_SCL I2C2  ALT(1)
+PB11 I2C2_SDA I2C2  ALT(1)
+
+# spi devices
+SPIDEV bmi270    SPI1 DEVID1 MPU6000_CS  MODE3 10*MHZ 10*MHZ
+
+# no built-in compass and no external I2C so no compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# one IMU
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_225
+
+# v2 has no BARO
+define HAL_BARO_ALLOW_INIT_NO_BARO 1