# Technical Specification

### Processors & Sensors

* FMU Processor: STM32H753
  * 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
* IO Processor: STM32F103
  *  32 Bit Arm® Cortex®-M3, 72MHz, 64KB SRAM 
* On-board sensors
  * Accel/Gyro: ADIS16470 (±40g, Vibration Isolated, Industrial IMU)
  * Accel/Gyro: IIM-42652 (±16g, Vibration Isolated, Industrial IMU)
  * Accel/Gyro: ICM-45686 with BalancedGyro™ Technology (±32g, Hard Mounted)
  * Barometer: ICP20100
  * Barometer: BMP388
  * Mag: BMM150

### Electrical data

* Voltage Ratings:
  * Max input voltage: 6V
  * USB Power Input: 4.75\~5.25V
  * Servo Rail Input: 0\~36V
* Current Ratings:
  * Telem1 output current limiter: 1.5A
  * All other port combined output current limiter: 1.5A

### Mechanical data

* Dimensions
  * Flight Controller Module: 38.8 x 31.8 x 30.1mm
  * Standard Baseboard: 52.4 x 103.4 x 16.7mm
  * Mini Baseboard: 43.4 x 72.8 x 14.2 mm
* Weight
  * Flight Controller Module: 50g
  * Standard Baseboard: 51g
  * Mini Baseboard: 26.5g

### Interfaces

* 16- PWM servo outputs with hardware switchable 3.3V or 5V signal mode (requires base board modification)
* R/C input for Spektrum / DSM
* Dedicated R/C input for PPM and S.Bus input
* Dedicated analog / PWM RSSI input and S.Bus output
* 4 general-purpose serial ports
  * 3 with full flow control
  * 1 with separate 1.5A current limit (Telem1)
  * 1 with I2C and additional GPIO line for external NFC reader
* 2 GPS ports
  * 1 full GPS plus Safety Switch Port
  * 1 basic GPS port
* 1 I2C port
* 1 Ethernet port
  * Transformerless Applications ([AN2190 50 Ohm termination](https://ww1.microchip.com/downloads/en/Appnotes/00002190A.pdf))
  * 100Mbps
* 1 SPI bus
  * 2 chip select lines
  * 2 data-ready lines
  * 1 SPI SYNC line
  * 1 SPI reset line
* 2 CAN Buses for CAN peripheral
  * CAN Bus has individual silent controls or ESC RX-MUX control
* 2 Power input ports with SMBus
  * 1 AD & IO port
  * 2 additional analog input
  * 1 PWM/Capture input
  * 2 Dedicated debug and GPIO lines

### Other Characteristics

* Operating temperature: -40 \~ 85°c