ArduPilot Wiring & Parameters

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Please provide good quality, low-noise 5v input and ensure all grounds are connected together.

RC

Most RC Input types can be used except PPM. Please see the ArduPilot wiki for full details.

GPS & I2C

UART 3 & 4 are designated to be GPS 1 & 2 by default. The corresponding I2C port can be used for a compass.

Motors/Servos/ESC/Voltage Sense/Current Sense

The Stamp has 10 outputs, arranged in 3 timer groups (1-4, 5-8, 9-10). They are all DShot compatible and outputs 1-8 support bi-directional DShot.

Outputs can be set as PWM for servos or other accessories.

Voltage and current sense expects an analog signal between 0-3.3v. Typically a 10:1 voltage divider can be used between the main battery voltage and the voltage sense pin if voltages stay below 7s. Current can typically be directly connected to an ESCs current output (if available).

ESC serial telemetry is available on any UART, but it is recommended to use UART8.

Ethernet

The Stamp contains everything needed for direct ethernet connection to external networks. It features an Ethernet PHY and magnetics, meaning the pins can be broken out to any kind of connector.

CAN

There are 2 separate CAN buses on the Stamp. A 120 ohm termination resistor is fitted on the board and is required between the CAN signals on the last device in the chain.

SPI

A SPI port is available for use with external sensors and the correct modifications to the firmware. Typically used for vibration isolated IMUs.

Safety Button

DFU Button

UART

There are a total of 8 serial ports available, one of which (USART6) is designated for RC input. They can be mapped to any user function that ArduPilot supports.

Please check the following list for DMA/Flow Control compatibility:

• SERIAL0 -> USB

• SERIAL1 -> USART1

• SERIAL2 -> USART2 (With RTS/CTS, DMA-enabled)

• SERIAL3 -> USART3 (GPS1, DMA-enabled)

• SERIAL4 -> UART4 (GPS2, DMA-enabled)

• SERIAL5 -> UART5 (With RTS/CTS, DMA-enabled)

• SERIAL6 -> USART6 (RCIN / IO coprocessor if fitted, DMA-enabled)

• SERIAL7 -> UART7 (With RTS/CTS, DMA-enabled)

• SERIAL8 -> UART8