diff --git a/libraries/AP_HAL_ChibiOS/hwdef/cube-orange/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/cube-orange/hwdef.dat
new file mode 100644
index 0000000000..74285c8f7a
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+++ b/libraries/AP_HAL_ChibiOS/hwdef/cube-orange/hwdef.dat
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+# cube-orange is a varient of the fmuv3 cube from Hex with a STM32F777 MCU
+
+# MCU class and specific type
+MCU STM32F7xx STM32F777xx
+
+# we set a specific HAL_BOARD_SUBTYPE, allowing for custom config in
+# drivers. For this to be used the subtype needs to be added to
+# AP_HAL/AP_HAL_Boards.h as well
+define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3
+
+# now we need to specify the APJ_BOARD_ID. This is the ID that the
+# bootloader presents to GCS software so it knows if this firmware is
+# suitable for the board. Please see
+# https://github.com/ArduPilot/Bootloader/blob/master/hw_config.h for
+# a list of current board IDs. If you add a new board type then please
+# get it added to that repository so we don't get conflicts.
+
+# Note that APJ is "ArduPilot JSON Firmware Format"
+
+# board ID for firmware load
+APJ_BOARD_ID 9
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+define STM32_LSECLK 32768U
+define STM32_LSEDRV (3U << 3U)
+define STM32_PLLSRC STM32_PLLSRC_HSE
+define STM32_PLLM_VALUE 24
+define STM32_PLLN_VALUE 432
+define STM32_PLLP_VALUE 2
+define STM32_PLLQ_VALUE 9
+
+# board ID for firmware load
+APJ_BOARD_ID 78
+
+# on some boards you will need to also set the various PLL values. See
+# the defaults in common/mcuconf.h, and use the define mechanism
+# explained later in this file to override values suitable for your
+# board. Refer to your MCU datasheet or examples from supported boards
+# in ChibiOS for the right values.
+
+# now define the voltage the MCU runs at. This is needed for ChibiOS
+# to set various internal driver limits. It is in 0.01 volt units
+
+# board voltage
+STM32_VDD 330U
+
+# this is the STM32 timer that ChibiOS will use for the low level
+# driver. This must be a 32 bit timer. We currently only support
+# timers 2, 3, 4, 5 and 21. See hal_st_lld.c in ChibiOS for details
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 5
+
+# now the size of flash in kilobytes, for creating the ld.script
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# now define which UART is used for printf(). We rarely use printf()
+# in ChibiOS, so this is really only for debugging very early startup
+# in drivers.
+
+# serial port for stdout. This is optional. If you leave it out then
+# output from printf() lines will be thrown away (you can stil use
+# hal.console->printf() for the ArduPilot console, which is the first
+# UART in the UART_ORDER list). 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, SD7 is for UART7 (SD7 ==
+# "serial device 7" in ChibiOS).
+#STDOUT_SERIAL SD7
+#STDOUT_BAUDRATE 57600
+
+# now the USB setup, if you have USB. All of these settings are
+# option, and the ones below are the defaults. It ends up creating a
+# USB ID on Linux like this:
+# /dev/serial/by-id/usb-ArduPilot_fmuv3_3E0031000B51353233343932-if00
+# if creating a board for a RTF vehicle you may wish to customise these
+
+# USB setup
+USB_VENDOR 0x0483 # ST
+USB_PRODUCT 0x5740
+USB_STRING_MANUFACTURER "ArduPilot"
+USB_STRING_PRODUCT "%BOARD%"
+USB_STRING_SERIAL  "%SERIAL%"
+
+# now define the order that I2C buses are presented in the hal.i2c API
+# in ArduPilot. For historical reasons inherited from HAL_PX4 the
+# 'external' I2C bus should be bus 1 in hal.i2c, and internal I2C bus
+# should be bus 0. On fmuv3 the STM32 I2C1 is our external bus and
+# I2C2 is our internal bus, so we need to setup the order as I2C2
+# followed by I2C1 in order to achieve the conventional order that
+# drivers expect
+
+# order of I2C buses
+I2C_ORDER I2C2 I2C1
+
+# now the UART order. These map to the hal.uartA to hal.uartF
+# objects. If you use a shorter list then HAL_Empty::UARTDriver
+# objects are substituted for later UARTs, or you can leave a gap by
+# listing one or more of the uarts as EMPTY
+
+# the normal usage of this ordering is:
+# 1) SERIAL0: console (primary mavlink, usually USB)
+# 2) SERIAL3: primary GPS
+# 3) SERIAL1: telem1
+# 4) SERIAL2: telem2
+# 5) SERIAL4: GPS2
+# 6) SERIAL5: extra UART (usually RTOS debug console)
+
+# order of UARTs (and USB)
+UART_ORDER OTG1 UART4 USART2 USART3 UART8 UART7
+
+# if the board has an IOMCU connected via a UART then this defines the
+# UART to talk to that MCU. Leave it out for boards with no IOMCU
+
+# UART for IOMCU
+IOMCU_UART USART6
+
+# now we start on the pin definitions. Every pin used by ArduPilot
+# needs to be in this file. The format is P+port+pin. So PC4 is portC
+# pin4. For every pin the 2nd colum is the label. If this is a
+# peripheral that has an alternate function defined in the STM32
+# datasheet then the label must be the name of that alternative
+# function. The names are looked up in the python database for this
+# MCU. Please see STM32F427xx.py for the F427 database. That database
+# is used to automatically fill in the alternative function (and later
+# for the DMA channels).
+
+# The third column is the peripheral type. This must be one of the
+# following: UARTn, USARTn, OTGn, SPIn, I2Cn, ADCn, TIMn, SWD, SDIO,
+# INPUT, OUTPUT, CS
+
+# the fourth and later columns are for modifiers on the pin. The
+# possible modifiers are
+# pin speed: SPEED_VERYLOW, SPEED_LOW, SPEED_MEDIUM, SPEED_HIGH
+# pullup: PULLUP, PULLDOWN, FLOATING
+# out type: OPENDRAIN, PUSHPULL
+# default value: LOW, HIGH
+
+# Additionally, each class of pin peripheral can have extra modifiers
+#  suitable for that pin type. For example, for an OUTPUT you can map
+#  it to a GPIO number in hal.gpio using the GPIO(n) modifier. For ADC
+#  inputs you can apply a scaling factor (to bring it to unit volts)
+#  using the SCALE(x) modifier. See the examples below for more
+#  modifiers, or read the python code in chibios_hwdef.py
+
+# now we define UART4 which is for the GPS, which is a GPS. Be careful
+# of the difference between USART and UART. Check the STM32F427xx.py
+# if unsure which it is. For a UART we need to specify at least TX and
+# RX pins.
+
+# this pins in this file can be defined in any order.
+
+# UART4 serial GPS
+PA0 UART4_TX UART4
+PA1 UART4_RX UART4
+
+# now define the primary battery connectors. The labels we choose hear
+# are used to create defines for pins in the various drivers, so
+# choose names that match existing board setups where possible. Here
+# we define two pins PA2 and PA3 for voltage and current sensing, with
+# a scale factor of 1.0 and connected on ADC1. The pin number this
+# maps to in hal.adc is automatically determined using the datasheet
+# tables in STM32F427xx.py
+
+PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# now the VDD sense pin. This is used to sense primary board voltags
+PA4 VDD_5V_SENS ADC1 SCALE(2)
+
+# now the first SPI bus. At minimum you need SCK, MISO and MOSI pin
+definitions. You can add speed modifiers if you want them, otherwise
+the defaults for the peripheral class are used.
+
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+
+# this defines an output pin which will default to output LOW. It is a
+# pin that enables peripheral power on this board
+
+PA8 VDD_5V_PERIPH_EN OUTPUT LOW
+
+# this is the pin that senses USB being connected. It is an input pin
+# setup as OPENDRAIN
+PA9 VBUS INPUT OPENDRAIN
+
+# this is a commented out pin for talking to the debug uart on the
+# IOMCU, not used yet, but left as a comment (with a '#' in front) for
+# future reference
+# PA10 IO-debug-console
+
+# now we define the pins that USB is connected on
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+# these are the pins for SWD debugging with a STlinkv2 or black-magic probe
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# this defines the PWM pin for the buzzer (if there is one). It is
+# also mapped to a GPIO output so you can play with the buzzer via
+# MAVLink relay commands if you want to
+
+# PWM output for buzzer
+PA15 TIM2_CH1 TIM2 GPIO(77) ALARM
+
+# this defines a couple of general purpose outputs, mapped to GPIO
+# numbers 1 and 2 for users
+PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
+PB1 EXTERN_GPIO2 OUTPUT GPIO(2)
+
+# this defines some input pins, currently unused
+PB2 BOOT1 INPUT
+PB3 FMU_SW0 INPUT
+
+# this defines the pins for the 2nd CAN interface, if available
+PB6 CAN2_TX CAN2
+PB12 CAN2_RX CAN2
+
+# now the first I2C bus. The pin speeds are automatically setup
+# correctly, but can be overridden here if needed.
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
+
+# now the 2nd I2C bus
+PB10 I2C2_SCL I2C2
+PB11 I2C2_SDA I2C2
+
+# the 2nd SPI bus
+PB13 SPI2_SCK SPI2
+PB14 SPI2_MISO SPI2
+PB15 SPI2_MOSI SPI2
+
+# this input pin is used to detect that power is valid on USB
+PC0 VBUS_VALID INPUT
+
+# this defines the CS pin for the magnetometer and first IMU. Note
+# that CS pins are software controlled, and are not tied to a particular
+# SPI bus
+PC1 MAG_CS CS
+PC2 MPU_CS CS
+
+# this defines more ADC inputs
+PC3 AUX_POWER ADC1 SCALE(1)
+PC4 AUX_ADC2 ADC1 SCALE(1)
+
+# and the analog input for airspeed (rarely used these days)
+PC5 PRESSURE_SENS ADC1 SCALE(2)
+
+# this sets up the UART for talking to the IOMCU. Note that it is
+# vital that this UART has DMA available. See the DMA settings below
+# for more information
+
+#  USART6 to IO
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+
+# now setup the pins for the microSD card, if available
+PC8 SDMMC_D0 SDMMC1
+PC9 SDMMC_D1 SDMMC1
+PC10 SDMMC_D2 SDMMC1
+PC11 SDMMC_D3 SDMMC1
+PC12 SDMMC_CK SDMMC1
+PD2 SDMMC_CMD SDMMC1
+
+# more CS pins for more sensors. The labels for all CS pins need to
+# match the SPI device table later in this file
+PC13 GYRO_EXT_CS CS
+PC14 BARO_EXT_CS CS
+PC15 ACCEL_EXT_CS CS
+PD7 BARO_CS CS
+PE4 MPU_EXT_CS CS
+
+# the first CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# Another USART, this one for telem1. This one has RTS and CTS lines
+# USART2 serial2 telem1
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
+
+# the telem2 USART, also with RTS/CTS available
+# USART3 serial3 telem2
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
+
+# the CS pin for FRAM (ramtron). This one is marked as using
+# SPEED_VERYLOW, which matches the HAL_PX4 setup
+PD10 FRAM_CS CS SPEED_VERYLOW
+
+# now we start defining some PWM pins. We also map these pins to GPIO
+# values, so users can set BRD_PWM_COUNT to choose how many of the PWM
+# outputs on the primary MCU are setup as PWM and how many as
+# GPIOs. To match HAL_PX4 we number the GPIOs for the PWM outputs
+# starting at 50
+PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50)
+PE13 TIM1_CH3 TIM1 PWM(2) GPIO(51)
+PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52)
+PE9  TIM1_CH1 TIM1 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+
+# this is the invensense data-ready pin. We don't use it in the
+# default driver
+PD15 MPU_DRDY INPUT
+
+# now the 2nd GPS UART
+# UART8 serial4 GPS2
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# now setup SPI bus4
+PE2 SPI4_SCK  SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+# this is the pin to enable the sensors rail. It can be used to power
+# cycle sensors to recover them in case there are problems with power on
+# timing affecting sensor stability. We pull it high by default
+PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
+
+# UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters)
+PE7 UART7_RX UART7
+PE8 UART7_TX UART7
+
+# define a LED, mapping it to GPIO(0)
+PE12 FMU_LED_AMBER OUTPUT GPIO(0)
+
+# power flag pins. These tell the MCU the status of the various power
+# supplies that are available. The pin names need to exactly match the
+# names used in AnalogIn.cpp. 
+PB5 VDD_BRICK_VALID INPUT PULLUP
+PB7 VDD_SERVO_VALID INPUT PULLUP
+PE10 VDD_5V_HIPOWER_OC INPUT PULLUP
+PE15 VDD_5V_PERIPH_OC INPUT PULLUP
+
+# now the SPI device table. This table creates all accessible SPI
+# devices, giving the name of the device (which is used by device
+# drivers to open the device), plus which SPI bus it it on, what
+# device ID will be used (which controls the IDs used in parameters
+# such as COMPASS_DEV_ID, so we can detect when the list of devices
+# changes between reboots for calibration purposes), the SPI mode to
+# use, and the low and high speed settings for the device
+
+# You can define more SPI devices than you actually have, to allow for
+# flexibility in board setup, and the driver code can probe to see
+# which are responding
+
+# The DEVID values and device names are chosen to match the PX4 port
+# of ArduPilot so users don't need to re-do their accel and compass
+# calibrations when moving to ChibiOS
+
+SPIDEV ms5611         SPI1 DEVID3  BARO_CS      MODE3 20*MHZ 20*MHZ
+SPIDEV ms5611_ext     SPI4 DEVID2  BARO_EXT_CS  MODE3 20*MHZ 20*MHZ
+SPIDEV mpu6000        SPI1 DEVID4  MPU_CS       MODE3  2*MHZ  8*MHZ
+SPIDEV icm20608-am    SPI1 DEVID4  MPU_CS       MODE3  4*MHZ  8*MHZ
+SPIDEV mpu9250        SPI1 DEVID4  MPU_CS       MODE3  4*MHZ  8*MHZ
+SPIDEV mpu9250_ext    SPI4 DEVID1  MPU_EXT_CS   MODE3  4*MHZ  8*MHZ
+SPIDEV hmc5843        SPI1 DEVID5  MAG_CS       MODE3 11*MHZ 11*MHZ
+SPIDEV lsm9ds0_g      SPI1 DEVID1  GYRO_EXT_CS  MODE3 11*MHZ 11*MHZ 
+SPIDEV lsm9ds0_am     SPI1 DEVID2  ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ 
+SPIDEV lsm9ds0_ext_g  SPI4 DEVID4  GYRO_EXT_CS  MODE3 11*MHZ 11*MHZ 
+SPIDEV lsm9ds0_ext_am SPI4 DEVID3  ACCEL_EXT_CS MODE3 11*MHZ 11*MHZ 
+SPIDEV ramtron        SPI2 DEVID10 FRAM_CS      MODE3  8*MHZ  8*MHZ 
+SPIDEV external0m0    SPI4 DEVID5  MPU_EXT_CS   MODE0  2*MHZ  2*MHZ
+SPIDEV external0m1    SPI4 DEVID5  MPU_EXT_CS   MODE1  2*MHZ  2*MHZ
+SPIDEV external0m2    SPI4 DEVID5  MPU_EXT_CS   MODE2  2*MHZ  2*MHZ
+SPIDEV external0m3    SPI4 DEVID5  MPU_EXT_CS   MODE3  2*MHZ  2*MHZ
+SPIDEV pixartPC15     SPI4 DEVID13 ACCEL_EXT_CS MODE3  2*MHZ  2*MHZ
+
+# Now some commented out SPI device names which can be used by
+# developers to test that the clock calculations are right for a
+# bus. This is used in conjunction with the mavproxy devop module
+
+# for SPI clock testing
+#SPIDEV clock500 SPI4 DEVID5  MPU_EXT_CS   MODE0  500*KHZ 500*KHZ # gives 329KHz
+#SPIDEV clock1   SPI4 DEVID5  MPU_EXT_CS   MODE0  1*MHZ 1*MHZ     # gives 657kHz
+#SPIDEV clock2   SPI4 DEVID5  MPU_EXT_CS   MODE0  2*MHZ 2*MHZ     # gives 1.3MHz
+#SPIDEV clock4   SPI4 DEVID5  MPU_EXT_CS   MODE0  4*MHZ 4*MHZ     # gives 2.6MHz
+#SPIDEV clock8   SPI4 DEVID5  MPU_EXT_CS   MODE0  8*MHZ 8*MHZ     # gives 5.5MHz
+#SPIDEV clock16  SPI4 DEVID5  MPU_EXT_CS   MODE0  16*MHZ 16*MHZ   # gives 10.6MHz
+
+# this adds a C define which sets up the ArduPilot architecture
+# define. Any line starting with 'define' is copied literally as
+# a #define in the hwdef.h header
+define HAL_CHIBIOS_ARCH_FMUV3 1
+
+# now some defines for logging and terrain data files
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+# we need to tell HAL_ChibiOS/Storage.cpp how much storage is
+# available (in bytes)
+define HAL_STORAGE_SIZE 16384
+
+# this enables the use of a ramtron device for storage, if one is
+# found on SPI. You must have a ramtron entry in the SPI device table
+
+# enable RAMTROM parameter storage
+define HAL_WITH_RAMTRON 1
+
+# setup for the possibility of an IMU heater as the pixhawk2 cube has
+# an IMU header
+define HAL_HAVE_IMU_HEATER 1
+
+# enable FAT filesystem support (needs a microSD defined via SDIO)
+define HAL_OS_FATFS_IO 1
+
+# enable RTSCTS support. You should define this if you have any UARTs
+with RTS/CTS pins
+define AP_FEATURE_RTSCTS 1
+
+# enable SBUS_OUT on IOMCU (if you have an IOMCU)
+define AP_FEATURE_SBUS_OUT 1
+
+# now setup the default battery pins driver analog pins and default
+# scaling for the power brick
+define HAL_BATT_VOLT_PIN 2
+define HAL_BATT_CURR_PIN 3
+define HAL_BATT_VOLT_SCALE 10.1
+define HAL_BATT_CURR_SCALE 17.0
+
+# this defines the default maximum clock on I2C devices.
+define HAL_I2C_MAX_CLOCK 100000
+
+# uncomment the lines below to enable strict API
+# checking in ChibiOS
+# define CH_DBG_ENABLE_ASSERTS TRUE
+# define CH_DBG_ENABLE_CHECKS TRUE
+# define CH_DBG_SYSTEM_STATE_CHECK TRUE
+# define CH_DBG_ENABLE_STACK_CHECK TRUE
+
+# we can't share IO UART (USART6)
+DMA_NOSHARE USART6_TX USART6_RX ADC1
+DMA_PRIORITY USART6*
+
+# run without a bootloader for now, use DFU upload
+FLASH_RESERVE_START_KB 0
+
+# list of files to put in ROMFS. For fmuv3 we need an IO firmware so
+# we can automatically update the IOMCU firmware on boot. The format
+# is "ROMFS ROMFS-filename source-filename". Paths are relative to the
+# ardupilot root
+ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin