INAV Mapping

PWM

M1	PA8	5 V tolerant I/O	TIM1, CH1
M2	PE11	5 V tolerant I/O	TIM1, CH2
M3	PE13	5 V tolerant I/O	TIM1, CH3
M4	PE14	5 V tolerant I/O	TIM1, CH4
M5	PD14	5 V tolerant I/O	TIM4, CH3
M6*	PD15	5 V tolerant I/O	TIM4, CH4
M7	PA0	5 V tolerant I/O	TIM5, CH1
M8	PA1	5 V tolerant I/O	TIM5, CH2
M9	PE5	5 V tolerant I/O	TIM15,CH1
M10*	PE6	5 V tolerant I/O	TIM15,CH2
M11	PB5	5 V tolerant I/O	TIM3, CH2
M12	PB0	5 V tolerant I/O	TIM3, CH3
M13	PB1	3.3 V tolerant I/O	TIM3, CH4
M14	PA15	5 V tolerant I/O	TIM2, CH1

• *M6 M10 Not compatible with Dshot

ADC

Vbat1 1.5K:25.5K	PC5	0~36V	Vbat ADC ADC_CHANNEL_1	scale 1800
Current1	PC4	0~3.3V	Current ADC ADC_CHANNEL_2	scale 275
RSSI Pad	PC0	0~3.3V	RSSI ADC ADC_CHANNEL_3	Analog RSSI
Vbat2 Pad 1.5K:25.5K	PA3	0~36V	Vbat2 ADC ADC_CHANNEL_4	scale 1800
Current 2 Pad	PA2	0~3.3V	Current2 ADC ADC_CHANNEL_5	Spare

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/ Temperature sensor/ etc.	-
I2C4	PD12/13	5 V tolerant I/O	Onboard Barometer	BMP280

UART

USB	PA11/PA12	5 V tolerant I/O	USB	-
TX1 RX1	PB6/PA10	5 V tolerant I/O	UART1	GPS1
TX2 RX2	PD5/PD6	5 V tolerant I/O	UART2	-
TX3 RX3	PD8/PD9	5 V tolerant I/O	USART3	-
TX5 RX5	PB13/PD2	5 V tolerant I/O	UART5	-
TX6 RX6	PC6/PC7	5 V tolerant I/O	USART6	RC input/Receiver CRSF/SBUS/IBUS/DSM/PPM/FPORT/SRXL2 etc.
RX7 TX7	PE8/PE7	3.3 V tolerant I/O	UART7	-
TX8 RX8	PE1/PE0	5 V tolerant I/O	UART8	-