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Pawel Spychalski (DzikuVx) 2022-04-27 10:24:15 +02:00
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docs/Boards.md
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# Flight controller hardware # Flight controller hardware
### Sponsored and recommended boards
These boards come from companies that support INAV development. Buying one of these boards you make your small contribution for improving INAV as well.
Also these boards are tested by INAV development team and usually flown on daily basis.
| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
| [Airbot OMNIBUS F4 PRO](https://inavflight.com/shop/p/OMNIBUSF4PRO)| F4 | OMNIBUSF4PRO | All | All | All | All | All | SERIAL, SD |
| [Airbot OMNIBUS F4](https://inavflight.com/shop/s/bg/1319176)| F4 | OMNIBUSF4 | All | All | All | All | All | SERIAL, SD |
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.
### Recommended boards ### Recommended boards
These boards are well tested with INAV and are known to be of good quality and reliability. These boards are well tested with INAV and are known to be of good quality and reliability.
| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox | | Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:| |---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
| [Matek F405-CTR](https://inavflight.com/shop/p/MATEKF405CTR) | F4 | MATEKF405 | All | All | All | All | All | SERIAL, SD | | [Diatone Mamba H743](https://inavflight.com/shop/s/bg/1929033) | H7 | MAMBAH743 | All | All | All | All | All | SERIAL, SD |
| [Matek F405-STD](https://inavflight.com/shop/p/MATEKF405STD) | F4 | MATEKF405 | All | All | All | All | All | SERIAL, SD | | [Matek F765-WSE](https://inavflight.com/shop/s/bg/1890404) | F7 | MATEKF765SE | All | All | All | All | All | SERIAL, SD |
| [Matek F405-WING](https://inavflight.com/shop/p/MATEKF405WING) | F4 | MATEKF405SE | All | All | All | All | All | SERIAL, SD |
| [Matek F722 WING](https://inavflight.com/shop/p/MATEKF722WING) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
| [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD | | [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE) | F7 | MATEKF722SE | All | All | All | All | All | SERIAL, SD |
| [Matek F722-STD](https://inavflight.com/shop/p/MATEKF722STD) | F7 | MATEKF722 | All | All | All | All | All | SERIAL, SD | | [Holybro Kakute H7](https://inavflight.com/shop/s/bg/1914066) | H7 | KAKUTEH7 | All | All | All | All | All | SERIAL, SD |
| [Matek F722-MINI](https://inavflight.com/shop/p/MATEKF722MINI) | F7 | MATEKF722SE | All | All | All | All | All | SPIFLASH |
It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products) It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products)
### Boards documentation ### Boards documentation

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docs/ESC and servo outputs.md
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## ESC protocols ## ESC protocols
INAV support following ESC protocols: INAV support the following ESC protocols:
* "standard" PWM with 50-400Hz update rate * "standard" PWM with 50-400Hz update rate
* OneShot125 * OneShot125
* OneShot42 * OneShot42
* Multishot * Multishot
* Brushed motors * Brushed motors
* DSHOT150, DSHOT300, DSHOT600
ESC protocol can be selected in Configurator. No special configuration is required. 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. Not all outputs on a flight controller can be used for servo outputs. It is a hardware thing. Always check flight controller documentation.
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! 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!
## Modifying output mapping
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:
* `AUTO` assigns outputs according to the default mapping
* `SERVOS` assigns all outputs to servos
* `MOTORS` assigns all outputs to motors