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Docs update
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# Flight controller hardware
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### Sponsored and recommended boards
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These boards come from companies that support INAV development. Buying one of these boards you make your small contribution for improving INAV as well.
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Also these boards are tested by INAV development team and usually flown on daily basis.
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| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
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|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
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| [Airbot OMNIBUS F4 PRO](https://inavflight.com/shop/p/OMNIBUSF4PRO)| F4 | OMNIBUSF4PRO | All | All | All | All | All | SERIAL, SD |
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| [Airbot OMNIBUS F4](https://inavflight.com/shop/s/bg/1319176)| F4 | OMNIBUSF4 | All | All | All | All | All | SERIAL, SD |
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Note: In the above and following tables, the sensor columns indicates firmware support for the sensor category; it does not necessarily mean there is an on-board sensor.
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### Recommended boards
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These boards are well tested with INAV and are known to be of good quality and reliability.
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| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
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|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
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| [Matek F405-CTR](https://inavflight.com/shop/p/MATEKF405CTR) | F4 | MATEKF405 | All | All | All | All | All | SERIAL, SD |
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| [Matek F405-STD](https://inavflight.com/shop/p/MATEKF405STD) | F4 | MATEKF405 | All | All | All | All | All | SERIAL, SD |
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| [Matek F405-WING](https://inavflight.com/shop/p/MATEKF405WING) | F4 | MATEKF405SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722 WING](https://inavflight.com/shop/p/MATEKF722WING) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-STD](https://inavflight.com/shop/p/MATEKF722STD) | F7 | MATEKF722 | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-MINI](https://inavflight.com/shop/p/MATEKF722MINI) | F7 | MATEKF722SE | All | All | All | All | All | SPIFLASH |
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| [Diatone Mamba H743](https://inavflight.com/shop/s/bg/1929033) | H7 | MAMBAH743 | All | All | All | All | All | SERIAL, SD |
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| [Matek F765-WSE](https://inavflight.com/shop/s/bg/1890404) | F7 | MATEKF765SE | All | All | All | All | All | SERIAL, SD |
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| [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
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| [Holybro Kakute H7](https://inavflight.com/shop/s/bg/1914066) | H7 | KAKUTEH7 | All | All | All | All | All | SERIAL, SD |
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It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products)
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### Boards documentation
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## ESC protocols
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INAV support following ESC protocols:
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INAV support the following ESC protocols:
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* "standard" PWM with 50-400Hz update rate
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* OneShot125
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* OneShot42
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* Multishot
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* Brushed motors
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* DSHOT150, DSHOT300, DSHOT600
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ESC protocol can be selected in Configurator. No special configuration is required.
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Not all outputs on a flight controller can be used for servo outputs. It is a hardware thing. Always check flight controller documentation.
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While motors are usually ordered sequentially, here is no standard output layout for servos! Some boards might not be supporting servos in _Multirotor_ configuration at all!
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While motors are usually ordered sequentially, here is no standard output layout for servos! Some boards might not be supporting servos in _Multirotor_ configuration at all!
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## Modifying output mapping
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INAV 5 allows the limited output type mapping by allowing to change the function of *ALL* outputs at the same time. It can be done with the `output_mode` CLI setting. Allowed values:
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* `AUTO` assigns outputs according to the default mapping
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* `SERVOS` assigns all outputs to servos
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* `MOTORS` assigns all outputs to motors
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