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...makes it easier to setup and helps with debugging. - only the current AP board generation boards are supported. If you have an issue you are quickly told ...great many choices. There are many autopilots and all but the very first (Atmega based) are still supported. There are many version of u-blox GPS available

* 8 x Servo PPM outputs (only 6 if second I2C (I2C1) bus in use) ...ia.org/wiki/I2c I²C] bus (2 x when using only the first 6 Servo PPM outputs)