Ardupilot Mapping

Reference links:

• Ardupilot Wiki page

• Ardupilot hwdef.dat

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	SERIAL7

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