Thanks for the info. To clarify, by “port mapping” I mean at the MCU level. Is it still true that this matches the Black?
If I go here… http://ardupilot.org/copter/docs/common-autopilots.html
And click on Cube Yellow, it takes me here: http://www.proficnc.com/all-products/187-the-cube.html
If I click the link on that page for more info, it leads nowhere: https://docs.cubepilot.org/user-guides/autopilot/cube-yellow
This sort of helps, but still doesn’t give details of MCU connections and other onboard hardware: https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview
Just an example of the details I need:
At the simplest level, where do I find which UART maps to which autopilot-level serial port?
Which sensors are on which MCU-level SPI bus?
At a lower level, I see that IO PWM voltage is now 3.3V/5V selectable in software. Where can I find definition on how this is implemented in hardware?
Can you point me more directly to where I can find this level of information? A schematic for the Yellow FMU board would be a great start.