Initialize the baro, IMU, and ICM for STM32H743VIT6 (custom board)

I am working on a custom board with STM32H743VIT6 and building an APJ file. After uploading the APJ to the board, it shows ‘Config Error: Baro: Initialize the driver’ in QGC or MP. I have tried multiple changes in the hwdef.dat file based on suggestions from Discord and other platforms.
what I think – I need to modify only the hwdef.dat file (nothing else), and it should automatically initialize the sensor driver. Correct me if I am wrong.

excuse me, I’m working for a project like you, I’m using WeAct STM32H743VIT6 for custom board but I dont know why after succesfully install bootloader and firmware of MatekH743 or Pixhawk 6c or Nucleoh743, it still not show the COM port. Do you have any idea to help me, pls ?

Use AnyleadH7 or kakuteH7