Hardware
The boards PteronautOS runs on, and how to wire them.
Supported boards
| Board | MCU · Radio |
| Generic 2400 PWMP7 v1.0 | ESP8285 · SX1280 2.4 GHz |
| Generic 2400 PWMP7 v1.1 | ESP8285 · SX1280 2.4 GHz |
Compatible receivers
Any ExpressLRS 2.4 GHz receiver based on ESP8285 + SX1280/SX1281 with PWM outputs — or a CRSF receiver paired with a CRSF→PWM converter — can run PteronautOS. Prices are approximate and vary by region.
| Board | Channels | Voltage | Weight (stock → mod) | Price | MCU · Radio | Notes |
|---|---|---|---|---|---|---|
| RadioMaster ER4 RadioMaster | 4 | 4.5–8.4 V | 1.6 g → ~1.0 g | ~$15 | ESP8285 · SX1281 | 4× PWM · SMD antenna |
| RadioMaster ER4-i RadioMaster | 4 | 4.5–8.4 V | 1.8 g → ~1.1 g | ~$16 | ESP8285 · SX1281 | 4× PWM · IPEX antenna |
| RadioMaster ER3C-i RadioMaster | 3 | 4.5–8.4 V | 1.7 g → ~1.0 g | ~$14 | ESP8285 · SX1281 | 3× PWM · IPEX antenna |
| HappyModel EPW6 TCXO HappyModel | 6 | 5–8.4 V | 1.49 g → ~0.9 g | ~$18 | ESP8285 · SX1280 | 6× PWM · TCXO · IPEX1 |
| BetaFPV 2.4G 5CH PWM/CRSF BetaFPV | 5 | 5–9 V | 2.5 g → ~1.5 g | ~$16 | ESP8285 · SX1280 | 5× PWM + CRSF |
| BetaFPV Micro RX 5CH BEC BetaFPV | 5 | 5–9 V | 3.0 g → ~1.8 g | ~$17 | ESP8285 · SX1280 | 5× PWM · 5V/9V BEC |
| BeyondFPV ELRS 7CH BeyondFPV | 7 | 5–8.4 V | 3.5 g → ~2.2 g | ~$19 | ESP8285 · SX1280 | 7× PWM + CRSF |
| ELRS 2.4G 5CH PWM Generic | 5 | 5–8.4 V | 2.8 g → ~1.6 g | ~$12 | ESP8285 · SX1280 | 5× PWM |
| CYCLONE ELRS 2.4G CYCLONE | 5 | 5–8.4 V | 2.6 g → ~1.5 g | ~$13 | ESP8285 · SX1280 | 5× PWM |
| HappyModel EP2 HappyModel | 0 | 5 V | 0.6 g | ~$12 | ESP8285 · SX1280 | CRSF only — needs converter |
| CRSF→PWM 12CH Adapter Various | 12 | 5 V | 2.0 g | ~$10 | — (passive) | 12× PWM via CRSF→PWM converter |
Stock weight; removing heatshrink, connectors or housing can cut 30–60%.
ESP32-based receivers (ESP32-C3/S3) use a different architecture and are not yet supported.
No native PWM? Any CRSF receiver (EP2, EP1, EPW6…) can drive servos through a cheap CRSF→PWM converter — see the tutorial.
Key specs
| MCU | ESP8285 @ 80 MHz, 1 MB flash |
| Radio | ExpressLRS 2.4 GHz (SX1280) |
| Gyro | MPU6050 (GY-521) on I2C |
| Servos | 3 PWM channels — left wing, right wing, crest rudder |
Wiring
Three servo channels plus the MPU6050 on the I2C bus. The full pin map, I2C wiring, and v1.0/v1.1 revision differences are in the PWMP7 guide.
PWMP7 receiver compatibility guide →
Servo efficiency table (OrniFlight) →
For detailed servo selection (torque, speed, efficiency vs. flapping frequency), see the dedicated OrniFlight servo table — we link it instead of duplicating it.