diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Bottom.jpg b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Bottom.jpg
deleted file mode 100644
index c7fcf08befa36..0000000000000
Binary files a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Bottom.jpg and /dev/null differ
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Bottom.png b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Bottom.png
new file mode 100644
index 0000000000000..920d371cf9255
Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Bottom.png differ
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/README.md b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/README.md
index 097a019f7a975..478388e4af999 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/README.md
@@ -19,8 +19,8 @@ The TBS LUCID PRO is a flight controller produced by [Team Black Sheep](https://
 
 ## Pinout
 
-![TBS LUCID PRO Board Top](Top.jpg "TBS LUCID PRO Top")
-![TBS LUCID PRO Board Bottom](Bottom.jpg "TBS LUCID PRO Bottom")
+![TBS LUCID PRO Board Top](Top.png "TBS LUCID PRO Top")
+![TBS LUCID PRO Board Bottom](Bottom.png "TBS LUCID PRO Bottom")
 
 ## UART Mapping
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Top.jpg b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Top.jpg
deleted file mode 100644
index d8ff5e4f651ae..0000000000000
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Top.png b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Top.png
new file mode 100644
index 0000000000000..f744177d1e047
Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/Top.png differ
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/hwdef.dat
index 8a286f022baae..4201943d49985 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/TBS_LUCID_PRO/hwdef.dat
@@ -57,7 +57,7 @@ PA12 OTG_FS_DP OTG1
 # USART1
 PA10 USART1_RX USART1
 PA9 USART1_TX USART1
-DEFAULT_SERIAL1_PROTOCOL SerialProtocol_MAVLink2
+DEFAULT_SERIAL1_PROTOCOL SerialProtocol_RCIN
 
 # USART2 - ESC Telem
 PA2 USART2_TX USART2 NODMA
@@ -74,10 +74,10 @@ PA0 UART4_TX UART4 NODMA
 PA1 UART4_RX UART4 NODMA
 DEFAULT_SERIAL4_PROTOCOL SerialProtocol_SmartAudio
 
-# UART5 - Tracer
-PC12 UART5_TX UART5
-PD2 UART5_RX UART5
-DEFAULT_SERIAL5_PROTOCOL SerialProtocol_RCIN
+# UART5 - MAVLink
+PC12 UART5_TX UART5 NODMA
+PD2 UART5_RX UART5 NODMA
+DEFAULT_SERIAL5_PROTOCOL SerialProtocol_MAVLink2
 
 # USART6 - GPS
 PC6 USART6_TX USART6
@@ -85,11 +85,11 @@ PC7 USART6_RX USART6
 DEFAULT_SERIAL6_PROTOCOL SerialProtocol_GPS
 
 # I2C ports
-I2C_ORDER I2C3
+I2C_ORDER I2C1
 
-# I2C3
-PA8 I2C3_SCL I2C3
-PC9 I2C3_SDA I2C3
+# I2C1
+PB8 I2C1_SCL I2C1
+PB9 I2C1_SDA I2C1
 
 # Servos
 
@@ -107,15 +107,15 @@ define HAL_BATT_MONITOR_DEFAULT 4
 # MOTORS
 PB6 TIM4_CH1 TIM4 PWM(1) GPIO(50)       # M1
 PB7 TIM4_CH2 TIM4 PWM(2) GPIO(51) BIDIR # M2
-PB8 TIM4_CH3 TIM4 PWM(3) GPIO(52) BIDIR # M3
-PB9 TIM4_CH4 TIM4 PWM(4) GPIO(53)       # M4
+PC8 TIM3_CH3 TIM3 PWM(3) GPIO(52)       # M3
+PC9 TIM3_CH4 TIM3 PWM(4) GPIO(53) BIDIR # M4
 PB3 TIM2_CH2 TIM2 PWM(5) GPIO(54) NODMA # M5 / GPIO1
-PB4 TIM3_CH1 TIM3 PWM(6) GPIO(55)       # M6 / GPIO2
+PB0 TIM1_CH2N TIM1 PWM(6) GPIO(55)      # M6 / GPIO2
 
-PC8 TIM3_CH3 TIM3 PWM(7) GPIO(56)       # CAMC_PWM
-PB1 TIM3_CH4 TIM3 PWM(8) GPIO(57)       # LED
+PA8 TIM1_CH1 TIM1 PWM(7) GPIO(56)       # CAMC_PWM
+PB1 TIM1_CH3N TIM1 PWM(8) GPIO(57)      # LED
 
-DMA_PRIORITY UART5_RX
+DMA_PRIORITY UART5_RX TIM4_UP TIM3_UP
 
 PC14 LED0 OUTPUT LOW GPIO(90)
 define HAL_GPIO_A_LED_PIN 90