diff --git a/src/main/target/AOCODARCH7DUAL/CMakeLists.txt b/src/main/target/AOCODARCH7DUAL/CMakeLists.txt
new file mode 100644
index 00000000000..bc7c2e86fd6
--- /dev/null
+++ b/src/main/target/AOCODARCH7DUAL/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(AOCODARCH7DUAL)
diff --git a/src/main/target/AOCODARCH7DUAL/config.c b/src/main/target/AOCODARCH7DUAL/config.c
new file mode 100644
index 00000000000..1065971614a
--- /dev/null
+++ b/src/main/target/AOCODARCH7DUAL/config.c
@@ -0,0 +1,32 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#include
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+ pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+ pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+ beeperConfigMutable()->pwmMode = true;
+}
diff --git a/src/main/target/AOCODARCH7DUAL/target.c b/src/main/target/AOCODARCH7DUAL/target.c
new file mode 100644
index 00000000000..eb574b39a8c
--- /dev/null
+++ b/src/main/target/AOCODARCH7DUAL/target.c
@@ -0,0 +1,54 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV. If not, see .
+ */
+
+#include
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, DEVFLAGS_NONE, 0, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1, DEVHW_BMI270, BMI270_SPI_BUS_1, BMI270_CS_PIN_1, BMI270_EXTI_PIN_1, DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS_2, BMI270_CS_PIN_2, BMI270_EXTI_PIN_2, DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2);
+
+
+timerHardware_t timerHardware[] = {
+ DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0), // S1
+ DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1), // S2
+ DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3
+ DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3), // S4
+
+ DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S5
+ DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S6
+ DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6), // S7
+ DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7), // S8
+
+ DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S9
+ DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S10 DMA_NONE
+ DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S11
+ DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0), // S12 DMA_NONE
+
+ DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
+
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/AOCODARCH7DUAL/target.h b/src/main/target/AOCODARCH7DUAL/target.h
new file mode 100644
index 00000000000..4024dd29963
--- /dev/null
+++ b/src/main/target/AOCODARCH7DUAL/target.h
@@ -0,0 +1,210 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV. If not, see .
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "AOH7"
+#define USBD_PRODUCT_STRING "AocodaRCH7Dual"
+
+#define USE_TARGET_CONFIG
+
+#define LED0 PE3
+#define LED1 PE4
+
+#define BEEPER PA15
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+// *************** SPI1 IMU0 MPU6000 && BMI270 ****************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PD7
+
+#define USE_IMU_MPU6000
+
+#define IMU_MPU6000_ALIGN CW0_DEG
+#define MPU6000_SPI_BUS BUS_SPI1
+#define MPU6000_CS_PIN PC15
+#define MPU6000_EXTI_PIN PB2
+
+#define USE_IMU_BMI270
+
+#define IMU_BMI270_ALIGN_1 CW90_DEG
+#define BMI270_SPI_BUS_1 BUS_SPI1
+#define BMI270_CS_PIN_1 PC15
+#define BMI270_EXTI_PIN_1 PB2
+
+// *************** SPI4 IMU1 BMI270 **************
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN PE12
+#define SPI4_MISO_PIN PE13
+#define SPI4_MOSI_PIN PE14
+
+#define USE_IMU_BMI270
+
+#define IMU_BMI270_ALIGN_2 CW180_DEG
+#define BMI270_SPI_BUS_2 BUS_SPI4
+#define BMI270_CS_PIN_2 PE11
+#define BMI270_EXTI_PIN_2 PE15
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS BUS_SPI2
+#define MAX7456_CS_PIN PB12
+
+// *************** SPI3 FLASH ***********************
+#define USE_SPI_DEVICE_3
+
+#define SPI3_NSS_PIN PD3
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN PB4
+#define SPI3_MOSI_PIN PB5
+
+#define SPI3_SCK_AF GPIO_AF6_SPI3
+#define SPI3_MISO_AF GPIO_AF6_SPI3
+#define SPI3_MOSI_AF GPIO_AF7_SPI3
+
+#define W25N01G_SPI_BUS BUS_SPI3
+#define W25N01G_CS_PIN SPI3_NSS_PIN
+
+#define USE_BLACKBOX
+#define USE_FLASHFS
+#define USE_FLASH_W25N01G
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB6
+#define I2C1_SDA PB7
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS BUS_I2C2
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+#define USE_MAG_VCM5883
+
+#define TEMPERATURE_I2C_BUS BUS_I2C1
+#define PITOT_I2C_BUS BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+
+// *************** UART *****************************
+#define USE_VCP
+#define VBUS_SENSING_PIN PE2
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define USE_UART2
+#define UART2_TX_PIN PD5
+#define UART2_RX_PIN PD6
+
+#define USE_UART3
+#define UART3_TX_PIN PD8
+#define UART3_RX_PIN PD9
+
+#define USE_UART4
+#define UART4_TX_PIN PB9
+#define UART4_RX_PIN PB8
+
+#define USE_UART6
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+
+#define USE_UART7
+#define UART7_TX_PIN PE8
+#define UART7_RX_PIN PE7
+
+#define USE_UART8
+#define UART8_TX_PIN PE1
+#define UART8_RX_PIN PE0
+
+#define SERIAL_PORT_COUNT 8
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE ADC1
+
+#define ADC_CHANNEL_1_PIN PC0 //ADC123 VBAT1
+#define ADC_CHANNEL_2_PIN PC1 //ADC123 CURR1
+#define ADC_CHANNEL_3_PIN PC5 //ADC12 RSSI
+#define ADC_CHANNEL_4_PIN PC4 //ADC12 AirS
+#define ADC_CHANNEL_5_PIN PA4 //ADC12 VB2
+#define ADC_CHANNEL_6_PIN PA7 //ADC12 CU2
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define RSSI_ADC_CHANNEL ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN PD10 // VTX power switcher
+#define PINIO2_PIN PD11 // 2xCamera switcher
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA8
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE 250
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS 15
+#define USE_DSHOT
+#define USE_ESC_SENSOR