> For the complete documentation index, see [llms.txt](https://teravolt.gitbook.io/teravolt/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://teravolt.gitbook.io/teravolt/flight-controllers/aerof4/features.md).

# Features

<figure><img src="/files/xdbdcNHTI5adGzcbNMsD" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/AbuDFGKMFTYqlqA3GLit" alt=""><figcaption></figcaption></figure>

* Based on STM32F405RGT6 (168 MHz, 1 MB Flash)
* 6 Full UARTs (GPS, telemetry, RC, debug, etc.)
* 4 PWM outputs for motors/servos
* Integrated On-Screen Display (MAX7456EUI+)
* Dual IMU support: MPU6000 or ICM-42688 (SPI-based)
* BMP280 Barometer onboard (I²C)
* 16 MB SPI NOR Flash (W25Q128JVS) for data logging
* 3x SPI and 2x I²C buses for peripheral expansion
* Voltage and current monitoring inputs
* Status LEDs and Buzzer support
* USB connectivity (Device mode)
* Power input via wide-range MP4560 buck converter
* Fully JST-SH connectors for compact & secure wiring
* Compatible with ArduPilot, INAV and Betaflight

{% hint style="warning" %}
Note: ArduPilot support is in progress
{% endhint %}