I/O co-processor

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It can be done 2 ways, one way is with a IO coprocessor as it has ADC and timers for servos, or it can use separate hardware like a PCA9685 i2c servo driver and i2c ADC,

OBAL - A Simple Linux-based Raspberry-Pi Ardupilot FCB

[img_20210901_054407] This article describes a new Linux-based board for Ardupilot called Open-Board Architecture for Linux (OBAL). It is designed to be simple to build by professionals as well as hobbyists. OBAL acts as a simple board with necessary sensors that can be upgraded easily. The board is built over Raspberry Pi. It can use Raspberry Pi 2,3,4 & zero. Current Linux-based Ardupilot flight controllers that run on Raspberry Pi usually consist of a shield with built-in sensors on it. …