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Flight controller
Board files from
ArduPilot 4.6
ArduPilot 4.7
milardu (4.6)
Find a board
Or read a hwdef.dat
hwdef.dat
Board folder in ArduPilot's tree (optional)
defaults.parm (optional)
Forget the file
What you connect
Receiver
None
ExpressLRS
CRSF (TBS Crossfire, Tracer)
SBUS
PPM
Another serial RC (DSM, iBUS, SRXL2, FPort)
GPS 1
None
Serial
DroneCAN
GPS 2
None
Serial
DroneCAN
HD video with OSD
None
DJI (O3, O4, Air Unit)
Walksnail
HDZero
Rangefinder
None
Benewake TFmini, TF-Luna
LightWare (serial)
Another serial one
Gimbal
None
SIYI
SToRM32 (serial)
MAVLink gimbal (Gremsy…)
Another serial one
Telemetry radio (SiK, RFD900)
ESC telemetry wire
Companion computer
Another serial device
Baud (SERIALn_BAUD)
Motors and outputs
Motors
ESC protocol
DShot
PWM
Bidirectional DShot (RPM from the ESCs)
Gripper servo
NeoPixel LEDs
Buzzer
Pick a board
Board files on GitHub
Your plan
Serial ports
Outputs, by timer group
Parameters
Download .param
Copy
Build into a firmware
Wiring checklist
Print