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Hardware
36x36mm 2 layer pcb, 30.5mm mounting pattern
STM32F103CxT6 CPU (32bit ARM Cortex M3, 72MHz, 64K/128K flash)
Invensense MPU3050 3-axis gyro (rev0 to rev3)
Invensense MPU6050 3-axis gyro (rev4 to rev5)
Invensense MPU6500 3-axis gyro (rev6)
Analog ADXL345 digital accelerometer (rev0 to rev3)
FreeScale MMA8452Q digital accelerometer (rev3 to rev4)
Honeywell HMC5883L digital compass
Bosch-Sensortec BMP085 pressure sensor (rev0 to rev3)
MEAS-SPEC MS5611-01BA03 pressure sensor (rev4+)
Bosch-Sensortec BMP280 (rev6 acro)
6 + 8 PWM I/O can remap as input or output for RC/CPPM/Motors/Servos
second UART accessible for Spektrum Satellite RX or GPS
Spektrum satellite receiver port (rev6)
16Mbit SPI flash memory (rev5, rev6 acro)
128Mbit SPI flash memory (rev6)
Built in FrSky Telemetry converter (rev5+)
Built in SBUS inverter (rev6)
CPPM (up to 12 channels) RC input
8 channel standard PWM RC input
Onboard USB connector for telemetry and firmware update (through-hole Mini-B (rev0-rev4), through-hole microUSB (rev5+)
One 3.3V and one 5V-tolerant GPIO (rev5+)
PWM (50..32kHz) motor output for up to 6 motors, can be remapped with other pins for 8 motors + camera stabilization. Supports direct-drive brushed motors with additional hardware (FETs).
Battery voltage monitoring and low-voltage alarm
Buzzer for alarm/user notification
Max 5.5V power via servo connector (rev0-4, rev5acro), Max 16V power via servo connector (rev5+)
2 programmable status LEDs, 1 constant power LED.
Pads for TRIG/ECHO sonar connections with inline resistors (rev6)
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