Ardupilot Mapping
Reference links:
PWM
M1
PA8
5 V tolerant I/O
PWM1 GPIO50
TIM1_CH1
Group1
M2
PE11
5 V tolerant I/O
PWM2 GPIO51
TIM1_CH2
Group1
M3
PE13
5 V tolerant I/O
PWM3 GPIO52
TIM1_CH3
Group1
M4
PE14
5 V tolerant I/O
PWM4 GPIO53
TIM1_CH4
Group1
M5
PD14
5 V tolerant I/O
PWM5 GPIO54
TIM4_CH3
Group2
M6
PD15
5 V tolerant I/O
PWM6 GPIO55
TIM4_CH4
Group2
M7
PA0
5 V tolerant I/O
PWM7 GPIO56
TIM5_CH1
Group3
M8
PA1
5 V tolerant I/O
PWM8 GPIO57
TIM5_CH2
Group3
M9
PE5
5 V tolerant I/O
PWM9 GPIO58
TIM15_CH1
Group4
M10
PE6
5 V tolerant I/O
PWM10 GPIO59
TIM15_CH2
Group4
M11
PB5
5 V tolerant I/O
PWM11 GPIO60
TIM3_CH2
Group5
M12
PB0
5 V tolerant I/O
PWM12 GPIO61
TIM3_CH3
Group5
M13
PB1
3.3 V tolerant I/O
PWM13 GPIO62
TIM3_CH4
Group5
M14
PA15
5 V tolerant I/O
PWM14 GPIO63
TIM2_CH1
Group6
PWM1~PWM14 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs.
If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group.
ADC
Vbat1 Pad 1.5K:25.5K
PC5
0~36V
Vbat ADC onboard battery voltage sense
BATT_VOLT_PIN: BATT_VOLT_MULT:
8 18.18
Current1 Pad
PC4
0~3.3V
Current ADC onboard current sense
BATT_CURR_PIN: BATT_AMP_PERVLT:
4 36.36
RSSI Pad
PC0
0~3.3V
RSSI ADC Analog RSSI
RSSI_ANA_PIN: RSSI_TYPE:
10 1
Vbat2 Pad 1.5K:25.5K
PA3
0~36V
Vbat2 ADC
BATT2_VOLT_PIN: BATT2_VOLT_MULT:
15 18.18
Current 2 Pad
PA2
0~3.3V
Current2 ADC
BATT2_CURR_PIN: BATT2_AMP_PERVL:
14 N/A
I2C
I2C1 CL1/DA1 (GPS Port)
PB8/PB7
5 V tolerant I/O
Compass
QMC5883 / HMC5883 / MAG3110 / LIS3MDL/ etc
-
I2C2 CL2/DA2 (I2C Port)
PB10/PB11
5 V tolerant I/O
Digital Airspeed sensor I2C
ARSPD_BUS
2
I2C4
PD12/13
5 V tolerant I/O
Onboard Barometer
BMP280
-
UART
USB
PA11/PA12
5 V tolerant I/O
USB
console
SERIAL0
RX7 TX7 RTS7 CTS7
PE7/8/9/10
3.3 V tolerant I/O
UART7
telem1
SERIAL1
TX2 RX2
PD5/PD6
5 V tolerant I/O
UART2
telem2
SERIAL2
TX1 RX1
PB6/PA10
5 V tolerant I/O
UART1
GPS1
SERIAL3
TX3 RX3
PD8/PD9
5 V tolerant I/O
UASRT3
GPS2
SERIAL4
TX5 RX5
PB13/PD2
5 V tolerant I/O
USART5
USER
SERIAL5
TX6 TX6
PC6/PC7
5 V tolerant I/O
USART6
RC input
Receiver
SERIAL6
TX8 RX8
PE1/PE0
5 V tolerant I/O
UART8
User
SERIAL8
CAN
(CAN1, PD0/PD1, 5 V tolerant I/O)
CAN Node
CAN_D1_PROTOCOL
1
CAN Node
CAN_P1_DRIVER
1
CAN GPS
GPS_TYPE
9
CAN Compass
COMPASS_TYPEMASK
-
CAN Airspeed sensor
ARSPD_TYPE
8
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