diff --git a/configs/NEXUSXR/config.h b/configs/NEXUSXR/config.h
new file mode 100644
index 000000000..3374aea34
--- /dev/null
+++ b/configs/NEXUSXR/config.h
@@ -0,0 +1,135 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software 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.
+ *
+ * Betaflight 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define FC_TARGET_MCU     STM32F7X2
+
+#define BOARD_NAME        NEXUSXR
+#define MANUFACTURER_ID   RDMS
+
+#define USE_ACC
+#define USE_GYRO
+#define USE_GYRO_CLKIN
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC_SPI_ICM42688P
+#define USE_BARO
+#define USE_BARO_DPS310
+#define USE_FLASH
+#define USE_FLASH_W25N
+
+#ifndef USE_WING
+#define USE_WING
+#endif
+
+#ifndef USE_SERVOS
+#define USE_SERVOS
+#endif
+
+#define MOTOR1_PIN           PA9  // ESC
+#define MOTOR2_PIN           PA15 // Tail
+#define SERVO1_PIN           PB4  // S1
+#define SERVO2_PIN           PB5  // S2
+#define SERVO3_PIN           PB0  // S3
+#define SERVO4_PIN           PA2  // RPM
+#define SERVO5_PIN           PA3  // TLM
+#define SERVO6_PIN           PB6  // AUX
+#define SERVO7_PIN           PB7  // SBUX
+
+#define UART1_TX_PIN         PB6 // AUX or S6
+#define UART1_RX_PIN         PB7 // SBUS or S7
+
+#define UART2_TX_PIN         PA2 // RPM or S4
+#define UART2_RX_PIN         PA3 // TLM or S5
+
+// Port C
+#define UART3_TX_PIN         PB10
+#define UART3_RX_PIN         PB11
+
+// Port A
+#define UART4_TX_PIN         PA0
+#define UART4_RX_PIN         PA1
+
+// Internal ELRS
+#define UART5_TX_PIN         PC12
+#define UART5_RX_PIN         PD2
+
+// Port B
+#define UART6_TX_PIN         PC6
+#define UART6_RX_PIN         PC7
+
+// I2C2 shared with UART 3 (Port C)
+#define I2C2_SCL_PIN         PB10
+#define I2C2_SDA_PIN         PB11
+
+#define I2C3_SCL_PIN         PA8
+#define I2C3_SDA_PIN         PC9
+#define LED0_PIN             PC10
+#define LED1_PIN             PC11
+#define SPI1_SCK_PIN         PA5
+#define SPI2_SCK_PIN         PB13
+#define SPI1_SDI_PIN         PA6
+#define SPI2_SDI_PIN         PB14
+#define SPI1_SDO_PIN         PA7
+#define SPI2_SDO_PIN         PB15
+#define ADC_VBAT_PIN         PC0 // EXT-V
+#define ADC_CURR_PIN         PC3 // ADC-CS
+#define ADC_EXTERNAL1_PIN    PC1 // ADC-RX
+#define ADC_EXTERNAL2_PIN    PC2 // ADC-5V
+#define PINIO1_PIN           PC8 // RF EN
+#define FLASH_CS_PIN         PB12
+#define GYRO_1_EXTI_PIN      PB8
+#define GYRO_1_CS_PIN        PA4
+#define GYRO_1_CLKIN_PIN     PB9
+
+#define TIMER_PIN_MAPPING \
+    TIMER_PIN_MAP( 0, PA9,  1,  0 ) /* TIM1_CH2 */ \
+    TIMER_PIN_MAP( 1, PA15, 1,  0 ) /* TIM2_CH1 */ \
+    TIMER_PIN_MAP( 2, PB4,  1, -1 ) /* TIM3_CH1 */ \
+    TIMER_PIN_MAP( 3, PB5,  1, -1 ) /* TIM3_CH2 */ \
+    TIMER_PIN_MAP( 4, PB0,  2, -1 ) /* TIM3_CH3 */ \
+    TIMER_PIN_MAP( 5, PA2,  2, -1 ) /* TIM5_CH3 */ \
+    TIMER_PIN_MAP( 6, PA3,  2, -1 ) /* TIM5_CH4 */ \
+    TIMER_PIN_MAP( 7, PB6,  1, -1 ) /* TIM4_CH1 */ \
+    TIMER_PIN_MAP( 8, PB7,  1, -1 ) /* TIM4_CH2 */ \
+    TIMER_PIN_MAP( 9, PB9,  2, -1 ) /* TIM11_CH1 */ 
+
+#define ADC1_DMA_OPT                     0
+
+#define BARO_I2C_INSTANCE                I2CDEV_3
+#define MAG_I2C_INSTANCE                 I2CDEV_2
+#define ADC_INSTANCE                     ADC1
+#define DEFAULT_BLACKBOX_DEVICE          BLACKBOX_DEVICE_FLASH
+#define DEFAULT_DSHOT_BITBANG            DSHOT_BITBANG_ON
+#define DEFAULT_CURRENT_METER_SOURCE     CURRENT_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SOURCE     VOLTAGE_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SCALE      238
+#define DEFAULT_VOLTAGE_METER_MULTIPLIER 2
+#define DEFAULT_CURRENT_METER_SCALE      273
+#define PINIO1_BOX                       40
+#define PINIO1_CONFIG                    129
+#define BOX_USER1_NAME                   "ELRS OFF"
+#define DEFAULT_RX_FEATURE               FEATURE_RX_SERIAL
+#define SERIALRX_UART                    SERIAL_PORT_UART5
+#define SERIALRX_PROVIDER                SERIALRX_CRSF
+#define FLASH_SPI_INSTANCE               SPI2
+#define GYRO_1_SPI_INSTANCE              SPI1
+#define GYRO_1_ALIGN                     CW0_DEG