Adding new platform

Hi all,

I am trying to build my own px4 hardware platform that utilizes different set of sensors. Other than sensors, pretty much the same as pixhawk.
For example, I want to use BMI sensors from BOSCH instead of MPU seriese sensor or gyro.
If that’s the case, is there are any documents that describes how to add hardware platform into existing px4 code?
Otherwise, should I modify the px4fmu-v2_default system to my own project?


I see there are folders for different platforms in nuttx-configs/ and wonder if they are generated automatically or all written by hand.