docs(boards): Add PWM Outputs section by hamishwillee · Pull Request #26818 · PX4/PX4-Autopilot

hamishwillee · 2026-03-19T09:07:40Z

This adds a section PWM Outputs to all FC docs for which one can be generated - using #27103

This is generated from a Claude-created script. It looks at timers etc to determine the output. It generates some JSON in the file first.
parse_pwm_outputs.py
pwm_outputs_1.md

@dakejahl This all looks pretty sensible and I've had happy results with Claude, but I am not sure how to verify that it hasn't gone off the rails. Could you spot check this - for example look at a few of the Ark and Pixhawk cases?
There are also 4 cases which already had entries, and these have changed. I am presuming as a resutl of your Dhot changes.

github-actions · 2026-03-19T09:08:43Z

/en/flight_controller/corvon_743v1.md

UrlToLocalSite: Link is URL to this site. Should it be relative link?: [Pixhawk Autopilot Standard Connections](https://docs.px4.io/main/en/flight_controller/autopilot_pixhawk_standard.html))

hamishwillee · 2026-03-19T09:09:22Z

 | UART8  | /dev/ttyS7 | GPS2          |

-## PWM Output
+## PWM Outputs


This one needs to be fixed up manually - the labeling of the ports was lost, and there is also electrical data that was replaced.

hamishwillee · 2026-03-19T09:10:10Z

 | UART8  | /dev/ttyS5 | SERIAL4 |

-## PWM Output
+## PWM Outputs


This needs to be updated manually. The data might be correct but we want to capture the labelling.

hamishwillee · 2026-04-02T00:21:51Z

 The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing).
 :::

+## PWM Outputs {#pwm_outputs}


@cuav-chen2 When you have a moment, can you please check the information on the CUAV boards for PWM outputs? This is script generated, and has been updated following the information you provided in #26882 (comment)

No errors in the description.

hamishwillee · 2026-04-02T01:11:51Z

+## PWM Outputs {#pwm_outputs}
+
+This flight controller supports up to 6 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).
+
+All FMU outputs support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+
+The 6 outputs are in 2 groups:
+
+- Outputs 1-4 in group1 (Timer1)
+- Outputs 5-6 in group2 (Timer4)
+
+All outputs within the same group must use the same output protocol and rate.


@julianoes Do you think you could sanity check the cubepilot information for PWM outputs?

Claude wrote me a script to generate this based on information in timers and so on. It's been valided against a number of boards that already documented this stuff, but I don't deeply understand it.

No great urgency, but if you can't please let me know.

Yep, that's correct.

dakejahl · 2026-04-02T03:54:45Z

Sorry I missed this. I will review it tomorrow.

dakejahl

ARK docs are correct. Thanks!

hamishwillee · 2026-04-08T07:06:39Z


 Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).

+## PWM Outputs {#pwm_outputs}


@vincentpoont2 Can you please sanity check this new section for the Holybro flight controllers. This is produced via a claude produced script. I have got verification that it worked for Ark and Cube, and it seems to work for CUAV.

If it works for yours to I will assume it can be trusted and merge all of this :-)

@HB-SP-P Can you review this?

julianoes · 2026-04-08T16:14:25Z

+
+FMU Outputs:
+
+- Outputs 1-4 support [DShot](../peripherals/dshot.md).


Pixhawk 4 is STM32F7, not H7, so won't have DShot at all.

This bit fixed - i.e. tool filters on F7, F4 as not having support. I'm still playing with the words though to indicate support or no support.

julianoes · 2026-04-08T16:15:55Z

+- Outputs 5-11 do not support DShot.
+- Outputs 1-4 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+
+The 11 outputs are in 4 groups:


It's 8 outputs and 3 inputs, although I'm not sure where the inputs physically are, maybe on the "CAP & ADC IN" pins.

I thin this is fixed. It now states

This flight controller supports up to 8 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).

DShot is not supported.

The 8 outputs are in 3 groups:

Outputs 1-4 in group1 (Timer1)

Outputs 5-6 in group2 (Timer4)

Outputs 7-8 in group3 (Timer12)

All outputs within the same group must use the same output protocol and rate.

julianoes · 2026-04-08T16:17:39Z

+- Outputs 1-6 support [DShot](../peripherals/dshot.md).
+- Outputs 7-9 do not support DShot.
+- Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).


This is also an F7, no DSHot support as of now.

Also fixed - it recogises not Dshot on F7.

julianoes · 2026-04-08T16:18:07Z

+- Outputs 1-4 in group1 (Timer1)
+- Outputs 5-6 in group2 (Timer4)
+- Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer5)


Output 9 is an input.

Fixed. Globally it now sees that inputs are not outputs. I haven't fixed it up to capture what the inputs are yet though.

julianoes · 2026-04-08T16:21:38Z

+- Outputs 1-8 support [DShot](../peripherals/dshot.md).
+- Outputs 9-12 do not support DShot.
+- Outputs 1-8 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).


Not sure, maybe. I'd have to test.

HB-SP-P · 2026-04-09T03:06:01Z


+## PWM Outputs {#pwm_outputs}
+
+This flight controller supports up to 11 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).


Should be 8 FMU PWM outputs and 8 IO outs for all Holybro Pixhawk controllers

HB-SP-P · 2026-04-09T03:11:14Z


+## PWM Outputs {#pwm_outputs}
+
+This flight controller supports up to 8 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).


For 6C Mini, there are only 6 FMU outputs

@HB-SP-P According to claude:

The board source files (board_config.h and timer_config.cpp) both define 8 FMU channels for the Pixhawk 6C.

IF this is correct, and there are only 6 FMU channels, doesn't that mean the base port code is wrong? Perhaps makes no difference in practice though.

github-actions · 2026-04-16T09:48:39Z

/en/flight_controller/corvon_743v1.md

UrlToLocalSite: Link is URL to this site. Should it be relative link?: [Pixhawk Autopilot Standard Connections](https://docs.px4.io/main/en/flight_controller/autopilot_pixhawk_standard.html))

hamishwillee · 2026-04-16T11:37:01Z

+
+FMU Outputs:
+
+- Outputs 1-6 support [DShot](../peripherals/dshot.md).


Doh. Claude not very bright.

…nerator script docs(update): Regenerate PWM Outputs sections using updated fc_doc_generator script Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

hamishwillee · 2026-04-18T06:07:16Z

+  - Max input voltage: 5.4V
+  - USB Power Input: 4.75\~5.25V
+  - Servo Rail Input: 0\~9.9V
+<!-- pwm_outputs-proposed


FYI, note screwup in merge.

hamishwillee requested a review from dakejahl March 19, 2026 09:07

github-actions Bot added the Documentation 📑 label Mar 19, 2026

hamishwillee commented Mar 19, 2026

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hamishwillee force-pushed the pwm_outputs_fcs branch 3 times, most recently from 35a734d to 45ab9bd Compare April 2, 2026 00:08

hamishwillee commented Apr 2, 2026

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dakejahl previously approved these changes Apr 3, 2026

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hamishwillee commented Apr 8, 2026

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julianoes reviewed Apr 8, 2026

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HB-SP-P reviewed Apr 9, 2026

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docs(update): PWM outputs sections

e0149f3

hamishwillee force-pushed the pwm_outputs_fcs branch from 45ab9bd to e0149f3 Compare April 16, 2026 09:46

hamishwillee mentioned this pull request Apr 16, 2026

docs(feature): Tool to generate FC docs from wizard and source parsing #27103

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hamishwillee dismissed dakejahl’s stale review via d4d4bb9 April 16, 2026 11:24

hamishwillee commented Apr 16, 2026

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docs(update): Regenerate PWM Outputs sections using updated fc_doc_ge…

6b51369

…nerator script docs(update): Regenerate PWM Outputs sections using updated fc_doc_generator script Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

hamishwillee force-pushed the pwm_outputs_fcs branch from 70fbd0c to 6b51369 Compare April 18, 2026 05:27

hamishwillee commented Apr 18, 2026

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hamishwillee added scope:docs and removed Documentation 📑 labels Apr 26, 2026

github-actions Bot added the kind:chore Maintenance work that keeps the project healthy. label May 7, 2026


		Additional information can be found in the [Pixhawk 4 Technical Data Sheet](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/flight_controller/pixhawk4/pixhawk4_technical_data_sheet.pdf).

		## PWM Outputs {#pwm_outputs}


		FMU Outputs:

		- Outputs 1-4 support [DShot](../peripherals/dshot.md).


		## PWM Outputs {#pwm_outputs}

		This flight controller supports up to 11 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).


		## PWM Outputs {#pwm_outputs}

		This flight controller supports up to 8 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).


		FMU Outputs:

		- Outputs 1-6 support [DShot](../peripherals/dshot.md).

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