# INAV Mapping

## PWM

<table data-header-hidden><thead><tr><th width="142"></th><th width="143"></th><th width="232"></th><th width="226"></th></tr></thead><tbody><tr><td>M1</td><td>PA8</td><td>5 V tolerant I/O</td><td>TIM1, CH1</td></tr><tr><td>M2</td><td>PE11</td><td>5 V tolerant I/O</td><td>TIM1, CH2</td></tr><tr><td>M3</td><td>PE13</td><td>5 V tolerant I/O</td><td>TIM1, CH3</td></tr><tr><td>M4</td><td>PE14</td><td>5 V tolerant I/O</td><td>TIM1, CH4</td></tr><tr><td>M5</td><td>PD14</td><td>5 V tolerant I/O</td><td>TIM4, CH3</td></tr><tr><td>M6*</td><td>PD15</td><td>5 V tolerant I/O</td><td>TIM4, CH4</td></tr><tr><td>M7</td><td>PA0</td><td>5 V tolerant I/O</td><td>TIM5, CH1</td></tr><tr><td>M8</td><td>PA1</td><td>5 V tolerant I/O</td><td>TIM5, CH2</td></tr><tr><td>M9</td><td>PE5</td><td>5 V tolerant I/O</td><td>TIM15,CH1</td></tr><tr><td>M10*</td><td>PE6</td><td>5 V tolerant I/O</td><td>TIM15,CH2</td></tr><tr><td>M11</td><td>PB5</td><td>5 V tolerant I/O</td><td>TIM3, CH2</td></tr><tr><td>M12</td><td>PB0</td><td>5 V tolerant I/O</td><td>TIM3, CH3</td></tr><tr><td>M13</td><td>PB1</td><td>3.3 V tolerant I/O</td><td>TIM3, CH4</td></tr><tr><td>M14</td><td>PA15</td><td>5 V tolerant I/O</td><td>TIM2, CH1</td></tr></tbody></table>

{% hint style="info" %}

* \*M6 M10 Not compatible with Dshot&#x20;
  {% endhint %}

## ADC

<table data-header-hidden><thead><tr><th></th><th width="116"></th><th width="118"></th><th></th><th></th></tr></thead><tbody><tr><td>Vbat1<br>1.5K:25.5K</td><td>PC5</td><td>0~36V</td><td>Vbat ADC<br>ADC_CHANNEL_1</td><td>scale 1800</td></tr><tr><td>Current1</td><td>PC4</td><td>0~3.3V</td><td>Current ADC<br>ADC_CHANNEL_2</td><td>scale 275</td></tr><tr><td>RSSI Pad</td><td>PC0</td><td>0~3.3V</td><td>RSSI ADC<br>ADC_CHANNEL_3</td><td>Analog RSSI</td></tr><tr><td>Vbat2 Pad<br>1.5K:25.5K</td><td>PA3</td><td>0~36V</td><td>Vbat2 ADC<br>ADC_CHANNEL_4</td><td>scale 1800</td></tr><tr><td>Current 2 Pad</td><td>PA2</td><td>0~3.3V</td><td>Current2 ADC<br>ADC_CHANNEL_5</td><td>Spare</td></tr></tbody></table>

## I2C

<table data-header-hidden><thead><tr><th width="179"></th><th width="112"></th><th width="157"></th><th></th><th></th></tr></thead><tbody><tr><td>I2C1 - CL1/DA1<br>(GPS Port)</td><td>PB8/PB7</td><td>5 V tolerant I/O</td><td>Compass</td><td>QMC5883 / HMC5883 /<br>MAG3110 / LIS3MDL/ etc</td></tr><tr><td>I2C2 - CL2/DA2<br>(I2C Port)</td><td>PB10/PB11</td><td>5 V tolerant I/O</td><td>Digital Airspeed sensor/ Temperature sensor/ etc.</td><td>-</td></tr><tr><td> I2C4</td><td>PD12/13</td><td>5 V tolerant I/O</td><td>Onboard Barometer</td><td> BMP280</td></tr></tbody></table>

## UART

<table data-header-hidden><thead><tr><th width="134"></th><th width="115"></th><th width="152"></th><th width="113.7175572519084"></th><th width="204"></th></tr></thead><tbody><tr><td>USB</td><td>PA11/PA12</td><td>5 V tolerant I/O</td><td>USB</td><td>-</td></tr><tr><td>TX1 RX1</td><td>PB6/PA10</td><td>5 V tolerant I/O</td><td>UART1</td><td>GPS1</td></tr><tr><td>TX2 RX2</td><td>PD5/PD6</td><td>5 V tolerant I/O</td><td>UART2</td><td>-</td></tr><tr><td>TX3 RX3</td><td>PD8/PD9</td><td>5 V tolerant I/O</td><td>USART3</td><td>-</td></tr><tr><td>TX5 RX5</td><td>PB13/PD2</td><td>5 V tolerant I/O</td><td>UART5</td><td>-</td></tr><tr><td>TX6 RX6</td><td>PC6/PC7</td><td>5 V tolerant I/O</td><td>USART6</td><td>RC input/Receiver<br>CRSF/SBUS/IBUS/DSM/PPM/FPORT/SRXL2 etc.</td></tr><tr><td>RX7 TX7</td><td>PE8/PE7</td><td>3.3 V tolerant I/O</td><td>UART7</td><td>-</td></tr><tr><td>TX8 RX8</td><td>PE1/PE0</td><td>5 V tolerant I/O</td><td>UART8</td><td>-</td></tr></tbody></table>