Peripherals

GNSS: We recommend using UBlox M10 modules or newer. The GPS module must integrate a compass. Almost all M10 modules on the market have a compass, but some don't.

The default firmware will look for any HMC5883L or QMC5883L compasses connected on the I2C bus during boot. You may need to rotate the compass orientation.

The precision of the navigation is higlhly dependent on the accuracy of the provided GPS/GNSS data.
M8 / M10 receivers alone provide an accuracy of 1-2m. Their advantage is that they don't require any further accessories and work well anywhere.
To achieve sub-meter accuracy, we recommend using a RTK capable systems and GNSS receivers like the F9P.
More information about configuring RTK here.
A good tuning of all PID parameters is also required.

RX: This module only works with digital serial protocols. Therefore only RX modules with SBUS, IBUS or CRSF (ELRS), SUMD. Consider using ELRS when building a new system.

HoTT telemetry is also activated and supported.

Check the list of supported RX systems for ArduPilot and iNav.

For new builds, we recommend using a 7.2V or 8.4V architecture for the BEC, servos, and other peripherals. A higher voltage architecture provides several advantages, including improved stability, better performance, and a higher current capacity.

Power

The BEC (Battery Eliminator Circuit) inside an ESC can supply regulated voltage to power not only the servos but also the entire autopilot system, including the flight controller, GPS, and receiver. When you connect an ESC with an active BEC to a PWM port on the autopilot, the power lines from that ESC provide the necessary voltage to all connected devices.
However, if you have multiple ESCs with BECs connected to the same system, you must ensure that only one BEC is powering the autopilot. This is because connecting multiple BECs in parallel can create voltage conflicts, which can damage the electronics. On JR-style PWM connectors, this is commonly achieved by not connecting the VCC pin on the extra ESCs, so their BECs do not feed power to the autopilot, leaving only the designated ESC to supply power. In short:

• One BEC → powers autopilot + GPS + RX + servos.
• Multiple ESCs → only one BEC connected; others’ VCC disconnected.

For Voltage sensing: use the proper pin. The voltage is divided internally. The maximum voltage is 26V.

Use with VEKTOR Core

Also see the comparison page VEKTOR Core/Autopilot.

The VEKTOR Autopilot functions as a HAT (Hardware Attached on Top) on the VEKTOR Core, allowing the two modules to interconnect the power pins. The Autopilot can be configured to send MAVLink or SBUS signals through the HAT port to the VEKTOR Core, enabling it to control complex propulsion systems and eliminating the need for a dedicated RX.

This integration enables the direct transmission of autopilot signals, such as AHRS, GPS data and automated throttle and steering, to the VEKTOR Core.

Other specific signals, such as switches, that need to be transmitted to the VEKTOR Core must be configured as passthrough signals in the Autopilot configuration software.

Wiring example

Wire colors may change, RX connects to TX and viceversa.

The Autopilot only supports receivers that output a serial signal like IBUS, SBUS, SUMD, ELRS..

The easiest and most reliable way is to connect an ELRS serial receiver.

For complex wiring also look up the common power and signal rails.

Receivers with many PWM ports and a serial output can be used togheter with the Autopilot. A careful channel mapping on the transmitter is necessary. It is then possible to combine the serial signal to the Autopilot and use the remaining PWM ports on the receiver.
For short distance applications we recommend FlySky iA6B and iA10 receivers, which have PWM outputs and a serial output.
This is also doable with some Graupner HoTT receivers.