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docs(update): PWM outputs sections
hamishwillee Apr 2, 2026
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docs(update): Regenerate PWM Outputs sections using updated fc_doc_ge…
hamishwillee Apr 16, 2026
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24 changes: 14 additions & 10 deletions docs/en/flight_controller/accton-godwit_ga1.md
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Expand Up @@ -91,20 +91,24 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

![G-A1 Wiring](../../assets/flight_controller/accton-godwit/ga1/wiring.png "G-A1 Wiring")

## PWM Output
## PWM Outputs {#pwm_outputs}

PWM M1-M8 (IO Main PWM), A1-A8(FMU PWM).
All these 16 support normal PWM output formats.
FMU PWM A1-A6 can support DShot and B-Directional DShot.
A1-A8(FMU PWM) are grouped as:
This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).

- Group 1: A1, A2, A3, A4
- Group 2: A5, A6
- Group 3: A7, A8
FMU Outputs:

The motor and servo system should be connected to these ports according to the order outlined in the fuselage reference for your carrier.
- 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).

![G-A1 PWM Motor Servo](../../assets/flight_controller/accton-godwit/ga1/motor_servo.png "G-A1 PWM Motor Servo")
The 9 outputs are in 4 groups:

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

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

## RC Input

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33 changes: 17 additions & 16 deletions docs/en/flight_controller/airlink.md
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Expand Up @@ -325,22 +325,23 @@ For PPM receivers please use RC Connector PPM pin located on the left side of th

![RC Input](../../assets/flight_controller/airlink/airlink-rc-input.jpg)

## Outputs

AIRLink has 16 PWM outputs. Main outputs 1-8 and connected to IO MCU. AUX outputs 1-8 are connected to FMU.

| Output | Timer | Channel |
| ------ | -------- | --------- |
| AUX 1 | Timer 1 | Channel 4 |
| AUX 2 | Timer 1 | Channel 3 |
| AUX 3 | Timer 1 | Channel 2 |
| AUX 4 | Timer 1 | Channel 1 |
| AUX 5 | Timer 4 | Channel 2 |
| AUX 6 | Timer 4 | Channel 3 |
| AUX 7 | Timer 12 | Channel 1 |
| AUX 8 | Timer 12 | Channel 2 |

[DShot](../peripherals/dshot.md) can be used on the first four AUX pins.
## 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).
- Outputs 7-8 do not support DShot.
- Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).

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.

## Building Firmware

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18 changes: 18 additions & 0 deletions docs/en/flight_controller/ark_fpv.md
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Expand Up @@ -13,6 +13,24 @@ The USA-built ARK FPV flight controller is based on the [ARKV6X](https://arkelec
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 9 FMU PWM outputs (MAIN).

Outputs:

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

The 9 outputs are in 3 groups:

- Outputs 1-4 in group1 (Timer5)
- Outputs 5-8 in group2 (Timer8)
- Output 9 in group3 (Timer4)

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

## Where To Buy {#store}

Order from [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
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18 changes: 18 additions & 0 deletions docs/en/flight_controller/ark_pi6x.md
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Expand Up @@ -13,6 +13,24 @@ The [ARK Pi6X Flow](https://arkelectron.gitbook.io/ark-documentation/flight-cont
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::

## PWM Outputs {#pwm_outputs}

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

Outputs:

- Outputs 1-6 support [DShot](../peripherals/dshot.md).
- Outputs 7-8 do not support DShot.
- Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).

The 8 outputs are in 3 groups:

- Outputs 1-4 in group1 (Timer5)
- 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.

## Where to Buy {#store}

Order this module from:
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19 changes: 19 additions & 0 deletions docs/en/flight_controller/ark_v6x.md
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Expand Up @@ -16,6 +16,25 @@ The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).

FMU Outputs:

- 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).

The 9 outputs are in 4 groups:

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

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

## Where To Buy {#store}

Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)
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18 changes: 18 additions & 0 deletions docs/en/flight_controller/corvon_743v1.md
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Expand Up @@ -38,6 +38,24 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- 5V 3A BEC
- ADC for battery voltage (up to 6S) and current monitoring

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 10 FMU PWM outputs (MAIN).

Outputs:

- Outputs 1-10 support [DShot](../peripherals/dshot.md).
- Outputs 1-9 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
- Output 10 supports Bidirectional DShot output only (no eRPM capture).

The 10 outputs are in 3 groups:

- Outputs 1-4 in group1 (Timer1)
- Outputs 5-6 in group2 (Timer3)
- Outputs 7-10 in group3 (Timer4)

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

## Where to Buy

Order from [CORVON](https://corvon.tech).
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20 changes: 20 additions & 0 deletions docs/en/flight_controller/cuav_nora.md
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Expand Up @@ -72,6 +72,26 @@ When it runs PX4 firmware, only 8 PWM outputs work.
The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing).
:::

## PWM Outputs {#pwm_outputs}
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@hamishwillee hamishwillee Apr 2, 2026

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@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)

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@cuav-chen2 cuav-chen2 Apr 2, 2026

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No errors in the description.


This flight controller supports up to 14 FMU PWM outputs (MAIN).

Outputs:

- Outputs 1-12 support [DShot](../peripherals/dshot.md).
- Outputs 13-14 do not support DShot.
- Outputs 1-7, 9-12 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
- Output 8 supports Bidirectional DShot output only (no eRPM capture).

The 14 outputs are in 4 groups:

- Outputs 1-4 in group1 (Timer5)
- Outputs 5-8 in group2 (Timer4)
- Outputs 9-12 in group3 (Timer1)
- Outputs 13-14 in group4 (Timer12)

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

## Where to Buy {#store}

- [CUAV Store](https://store.cuav.net)<\br>
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19 changes: 19 additions & 0 deletions docs/en/flight_controller/cuav_pixhawk_v6x.md
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Expand Up @@ -104,6 +104,25 @@ The Pixhawk® V6X is ideal for corporate research labs, academic research and co

![Pixhawk V6X](../../assets/flight_controller/cuav_pixhawk_v6x/core.png)

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).

FMU Outputs:

- 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).

The 9 outputs are in 4 groups:

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

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

## Where to Buy {#store}

Order from [CUAV](https://store.cuav.net/).
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21 changes: 21 additions & 0 deletions docs/en/flight_controller/cuav_x25-evo.md
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Expand Up @@ -107,6 +107,27 @@ The [X25 EVO Wiring Quick Start](../assembly/quick_start_cuav_x25_evo.md) provid

![CUAV X25 EVO Pinout](../../assets/flight_controller/cuav_x25-evo/x25_evo_pinouts.jpg)

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 16 FMU PWM outputs (MAIN).

Outputs:

- Outputs 1-8 support [DShot](../peripherals/dshot.md).
- Outputs 9-16 do not support DShot.
- Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
- Output 8 supports Bidirectional DShot output only (no eRPM capture).

The 16 outputs are in 5 groups:

- Outputs 1-4 in group1 (Timer5)
- Outputs 5-8 in group2 (Timer4)
- Outputs 9-11 in group3 (Timer1)
- Outputs 12-14 in group4 (Timer8)
- Outputs 15-16 in group5 (Timer12)

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

## Serial Port Mapping

| UART | Device | Port |
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21 changes: 21 additions & 0 deletions docs/en/flight_controller/cuav_x25-super.md
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Expand Up @@ -108,6 +108,27 @@ The [X25 SUPER Wiring Quick Start](../assembly/quick_start_cuav_x25_evo.md) prov
![CUAV X25-SUPER Pinout_01](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_01.png)
![CUAV X25-SUPER Pinout_02](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_02.png)

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 16 FMU PWM outputs (MAIN).

Outputs:

- Outputs 1-8 support [DShot](../peripherals/dshot.md).
- Outputs 9-16 do not support DShot.
- Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
- Output 8 supports Bidirectional DShot output only (no eRPM capture).

The 16 outputs are in 5 groups:

- Outputs 1-4 in group1 (Timer5)
- Outputs 5-8 in group2 (Timer4)
- Outputs 9-11 in group3 (Timer1)
- Outputs 12-14 in group4 (Timer8)
- Outputs 15-16 in group5 (Timer12)

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

## Serial Port Mapping

| UART | Device | Port |
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20 changes: 20 additions & 0 deletions docs/en/flight_controller/cuav_x7.md
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Expand Up @@ -5,3 +5,23 @@

DOC REMOVED: 202603
-->

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 14 FMU PWM outputs (MAIN).

Outputs:

- Outputs 1-12 support [DShot](../peripherals/dshot.md).
- Outputs 13-14 do not support DShot.
- Outputs 1-7, 9-12 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
- Output 8 supports Bidirectional DShot output only (no eRPM capture).

The 14 outputs are in 4 groups:

- Outputs 1-4 in group1 (Timer5)
- Outputs 5-8 in group2 (Timer4)
- Outputs 9-12 in group3 (Timer1)
- Outputs 13-14 in group4 (Timer12)

All outputs within the same group must use the same output protocol and rate.
13 changes: 13 additions & 0 deletions docs/en/flight_controller/cubepilot_cube_orange.md
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Expand Up @@ -40,6 +40,19 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time

## 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.
Comment on lines +43 to +54
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@hamishwillee hamishwillee Apr 2, 2026

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@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.

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@julianoes julianoes Apr 2, 2026

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Yep, that's correct.


## Where to Buy {#store}

- [Reseller list](https://www.cubepilot.com/#/reseller/list)
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13 changes: 13 additions & 0 deletions docs/en/flight_controller/cubepilot_cube_orangeplus.md
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Expand Up @@ -41,6 +41,19 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time

## 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.

## Where to Buy {#store}

- [Reseller list](https://www.cubepilot.com/#/reseller/list)
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17 changes: 17 additions & 0 deletions docs/en/flight_controller/cubepilot_cube_yellow.md
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Expand Up @@ -36,6 +36,23 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo
- High-power, multi-tone piezo audio indicator
- microSD card for high-rate logging over extended periods of time

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 6 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).

FMU Outputs:

- Outputs 1-4 support [DShot](../peripherals/dshot.md).
- Outputs 5-6 do not support DShot.
- Outputs 1-4 support [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.

## Where to Buy {#store}

- [Reseller list](https://www.cubepilot.com/#/reseller/list)
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19 changes: 19 additions & 0 deletions docs/en/flight_controller/durandal.md
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Expand Up @@ -86,6 +86,25 @@ This flight controller is [manufacturer supported](../flight_controller/autopilo

For more information see: [Durandal Technical Data Sheet](https://cdn.shopify.com/s/files/1/0604/5905/7341/files/Durandal_technical_data_sheet_90f8875d-8035-4632-a936-a0d178062077.pdf).

## PWM Outputs {#pwm_outputs}

This flight controller supports up to 10 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).

FMU Outputs:

- Outputs 1-5 support [DShot](../peripherals/dshot.md).
- Outputs 6-10 do not support DShot.
- Outputs 1-5 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).

The 10 outputs are in 4 groups:

- Outputs 1-4 in group1 (Timer1)
- Output 5 in group2 (Timer4)
- Outputs 6-8 in group3 (Timer2)
- Outputs 9-10 in group4 (Timer12)

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

## Where to Buy {#store}

Order from [Holybro](https://holybro.com/products/durandal).
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