Ardupilot Mapping

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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