From f54a170361e6d98b2af5ba90757fcfdff7508784 Mon Sep 17 00:00:00 2001
From: Hamish Willee <hamishwillee@gmail.com>
Date: Thu, 2 Apr 2026 10:36:01 +1100
Subject: [PATCH] docs(script): fix up generator PWM outputs

---
 docs/scripts/fc_doc_generator/CLAUDE.md       |   9 +-
 .../fc_doc_generator/fc_doc_generator.py      |  34 ++-
 .../metadata/accton-godwit_ga1_data.json      |  14 +
 .../metadata/ark_fmu-v6x_data.json            |  14 +
 .../metadata/auterion_fmu-v6s_data.json       |  14 +
 .../metadata/auterion_fmu-v6x_data.json       |  14 +
 .../metadata/cuav_7-nano_data.json            |  48 ++++
 .../metadata/cuav_fmu-v6x_data.json           |  14 +
 .../metadata/cuav_x25-evo_data.json           |  52 ++++
 .../metadata/cuav_x25-super_data.json         |  52 ++++
 .../metadata/holybro_durandal-v1_data.json    |  34 +++
 .../metadata/holybro_pix32v5_data.json        |  18 ++
 .../metadata/px4_fmu-v5_data.json             |  18 ++
 .../metadata/px4_fmu-v5x_data.json            |  14 +
 .../metadata/px4_fmu-v6u_data.json            |  14 +
 .../metadata/px4_fmu-v6x_data.json            |  14 +
 .../metadata/svehicle_e2_data.json            |  14 +
 .../metadata/zeroone_x6_data.json             |  14 +
 .../fc_doc_generator/tests/conftest.py        |   6 +
 .../stm32h7_capture_channels/default.px4board |   1 +
 .../nuttx-config/nsh/defconfig                |   3 +
 .../src/board_config.h                        |   2 +
 .../src/timer_config.cpp                      |  36 +++
 .../tests/snapshots/fc_sections.md            | 264 +++++++++++-------
 .../snapshots/pwm_stm32h7_capture_channels.md |  20 ++
 .../fc_doc_generator/tests/test_compute.py    |  42 +++
 .../fc_doc_generator/tests/test_generators.py |  27 ++
 .../fc_doc_generator/tests/test_parsers.py    |  18 ++
 28 files changed, 716 insertions(+), 108 deletions(-)
 create mode 100644 docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/default.px4board
 create mode 100644 docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/nuttx-config/nsh/defconfig
 create mode 100644 docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/board_config.h
 create mode 100644 docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/timer_config.cpp
 create mode 100644 docs/scripts/fc_doc_generator/tests/snapshots/pwm_stm32h7_capture_channels.md

diff --git a/docs/scripts/fc_doc_generator/CLAUDE.md b/docs/scripts/fc_doc_generator/CLAUDE.md
index 8a741ec9f3..f522f43af1 100644
--- a/docs/scripts/fc_doc_generator/CLAUDE.md
+++ b/docs/scripts/fc_doc_generator/CLAUDE.md
@@ -28,10 +28,11 @@ fc_doc_generator/
 │   └── <vendor>_<board>_wizard.json  # User-supplied wizard overrides
 └── tests/
     ├── conftest.py          # snapshot fixture + board_* path fixtures
-    ├── fixtures/            # Minimal fake board trees (5 boards)
+    ├── fixtures/            # Minimal fake board trees
     │   ├── stm32h7_all_dshot/
     │   ├── stm32h7_mixed_io/
     │   ├── stm32h7_ppm_shared/
+    │   ├── stm32h7_capture_channels/   # 8 regular + 8 initIOTimerChannelCapture outputs
     │   ├── stm32f4_no_dshot/
     │   └── imxrt_all_dshot/
     ├── snapshots/           # Expected markdown output (.md files)
@@ -56,6 +57,12 @@ python docs/scripts/fc_doc_generator/fc_doc_generator.py --apply
 # Apply a single section only:
 python docs/scripts/fc_doc_generator/fc_doc_generator.py --apply --section pwm_outputs
 
+# Apply all sections to a single doc only (stem or filename, implies --apply):
+python docs/scripts/fc_doc_generator/fc_doc_generator.py --doc cuav_x25-evo.md
+
+# Apply a single section to a single doc:
+python docs/scripts/fc_doc_generator/fc_doc_generator.py --doc cuav_x25-evo.md --section pwm_outputs
+
 # Create a new stub FC doc (interactive wizard):
 python docs/scripts/fc_doc_generator/fc_doc_generator.py --new-doc
 
diff --git a/docs/scripts/fc_doc_generator/fc_doc_generator.py b/docs/scripts/fc_doc_generator/fc_doc_generator.py
index 9a7cd8f29a..e579951615 100644
--- a/docs/scripts/fc_doc_generator/fc_doc_generator.py
+++ b/docs/scripts/fc_doc_generator/fc_doc_generator.py
@@ -279,6 +279,7 @@ def parse_timer_config(board_path: Path) -> dict:
       initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, …)
       initIOTimerChannelOutputClear(…)   — same semantics, clears on disable
       initIOTimerChannelDshot(…)         — iMXRT only: marks channel as DShot
+      initIOTimerChannelCapture(…)       — dual-purpose capture/output channel
 
     The channel index (Channel1 = index 0, Channel2 = index 1, …) is extracted
     and stored for use by compute_bdshot() when determining per-channel BDShot
@@ -331,6 +332,7 @@ def parse_timer_config(board_path: Path) -> dict:
     # Parse timer_io_channels[] array entries
     # Handle: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, ...)
     # Handle: initIOTimerChannelOutputClear(...), initIOTimerChannelDshot(...)
+    # Handle: initIOTimerChannelCapture(...) -- dual-purpose capture/output channels
     channels = []
     io_channels_match = re.search(
         r'constexpr\s+timer_io_channels_t\s+timer_io_channels\[.*?\]\s*=\s*\{(.*?)\};',
@@ -341,7 +343,7 @@ def parse_timer_config(board_path: Path) -> dict:
         block = re.sub(r'//[^\n]*', '', io_channels_match.group(1))
         output_idx = 1
         for entry in re.finditer(
-            r'(initIOTimerChannel(?:OutputClear|Dshot)?)\s*\(\s*io_timers\s*,\s*\{(?:Timer|PWM)::(\w+)\s*,\s*(?:Timer::|PWM::)?(\w+)\}',
+            r'(initIOTimerChannel(?:OutputClear|Dshot|Capture)?)\s*\(\s*io_timers\s*,\s*\{(?:Timer|PWM)::(\w+)\s*,\s*(?:Timer::|PWM::)?(\w+)\}',
             block
         ):
             func_name = entry.group(1)
@@ -2485,8 +2487,8 @@ def generate_specifications_section(board_key: str, entry: dict) -> str:
     lines.append('### Interfaces')
     lines.append('')
     # Use group-derived count — DIRECT_PWM_OUTPUT_CHANNELS in board_config.h
-    # counts all FMU timer channels including capture inputs; groups only count
-    # initIOTimerChannel entries (actual servo outputs, not capture channels).
+    # counts all FMU timer channels, which matches groups since
+    # initIOTimerChannelCapture entries are also counted as outputs.
     groups = entry.get('groups') or []
     fmu_out = sum(len(g.get('outputs', [])) for g in groups)
     io_out = entry.get('io_outputs', 0) or 0
@@ -2839,16 +2841,28 @@ def _has_no_rc_data(entry: dict) -> bool:
     )
 
 
-def apply_sections_to_docs(data: dict, sections: list = None) -> tuple:
-    """Apply generated sections to FC doc files. Returns (updated, skipped) lists."""
+def apply_sections_to_docs(data: dict, sections: list = None, doc_filter: str = None) -> tuple:
+    """Apply generated sections to FC doc files. Returns (updated, skipped) lists.
+
+    doc_filter: if given, only process the board whose doc_file matches this
+    filename (e.g. 'cuav_x25-evo.md').  Stem-only ('cuav_x25-evo') also accepted.
+    """
     sections_to_apply = sections or APPLY_SECTIONS
     updated, skipped = [], []
 
+    # Normalise filter to bare filename with extension
+    if doc_filter:
+        p = Path(doc_filter)
+        doc_filter_name = p.name if p.suffix else p.name + ".md"
+
     for key, entry in data.items():
         doc_filename = entry.get('doc_file')
         if not doc_filename:
             skipped.append((key, 'no doc mapping'))
             continue
+        if doc_filter and doc_filename != doc_filter_name:
+            skipped.append((key, f'filtered (not {doc_filter_name})'))
+            continue
         doc_path = FC_DOCS / doc_filename
         if not doc_path.exists():
             skipped.append((key, f'doc not found: {doc_filename}'))
@@ -4355,6 +4369,12 @@ if __name__ == "__main__":
         "--section", choices=list(SECTION_GENERATORS.keys()), default=None,
         help="Apply only this section key (implies --apply).",
     )
+    parser.add_argument(
+        "--doc", default=None,
+        metavar="FILENAME",
+        help="Apply only to this doc file, e.g. cuav_x25-evo.md (implies --apply). "
+             "Stem without extension is also accepted.",
+    )
     parser.add_argument(
         "--output-dir", type=Path, default=None,
         metavar="DIR",
@@ -4454,8 +4474,8 @@ if __name__ == "__main__":
         print(f"Boards with existing PWM section: {documented}")
         print(f"Boards with any DShot: {dshot_boards}")
 
-        if args.apply or args.section:
+        if args.apply or args.section or args.doc:
             sections = [args.section] if args.section else None
             print()
-            updated, skipped = apply_sections_to_docs(data, sections)
+            updated, skipped = apply_sections_to_docs(data, sections, doc_filter=args.doc)
             print(f"\nApply done. Updated: {len(updated)}, Skipped: {len(skipped)}")
diff --git a/docs/scripts/fc_doc_generator/metadata/accton-godwit_ga1_data.json b/docs/scripts/fc_doc_generator/metadata/accton-godwit_ga1_data.json
index 43f91d61b4..5221c7d401 100644
--- a/docs/scripts/fc_doc_generator/metadata/accton-godwit_ga1_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/accton-godwit_ga1_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/ark_fmu-v6x_data.json b/docs/scripts/fc_doc_generator/metadata/ark_fmu-v6x_data.json
index d70774fe9e..c6db086aab 100644
--- a/docs/scripts/fc_doc_generator/metadata/ark_fmu-v6x_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/ark_fmu-v6x_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6s_data.json b/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6s_data.json
index 98ba68e677..45fa761255 100644
--- a/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6s_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6s_data.json
@@ -69,6 +69,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer8",
+      "outputs": [
+        10
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        10
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6x_data.json b/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6x_data.json
index 80131321a4..a84102b9e5 100644
--- a/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6x_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/auterion_fmu-v6x_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/cuav_7-nano_data.json b/docs/scripts/fc_doc_generator/metadata/cuav_7-nano_data.json
index 4b5d862d90..1a166a6673 100644
--- a/docs/scripts/fc_doc_generator/metadata/cuav_7-nano_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/cuav_7-nano_data.json
@@ -65,6 +65,54 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer8",
+      "outputs": [
+        9,
+        10,
+        11
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9,
+        10,
+        11
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
+    },
+    {
+      "group": 5,
+      "timer": "Timer15",
+      "outputs": [
+        12
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        12
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
+    },
+    {
+      "group": 6,
+      "timer": "Timer12",
+      "outputs": [
+        13,
+        14
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        13,
+        14
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/cuav_fmu-v6x_data.json b/docs/scripts/fc_doc_generator/metadata/cuav_fmu-v6x_data.json
index e84e83048d..1f79a8f8ef 100644
--- a/docs/scripts/fc_doc_generator/metadata/cuav_fmu-v6x_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/cuav_fmu-v6x_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/cuav_x25-evo_data.json b/docs/scripts/fc_doc_generator/metadata/cuav_x25-evo_data.json
index fce8434bc4..1e7390d49b 100644
--- a/docs/scripts/fc_doc_generator/metadata/cuav_x25-evo_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/cuav_x25-evo_data.json
@@ -56,6 +56,58 @@
       "bdshot_output_only": [
         8
       ]
+    },
+    {
+      "group": 3,
+      "timer": "Timer1",
+      "outputs": [
+        9,
+        10,
+        11
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9,
+        10,
+        11
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer8",
+      "outputs": [
+        12,
+        13,
+        14
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        12,
+        13,
+        14
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
+    },
+    {
+      "group": 5,
+      "timer": "Timer12",
+      "outputs": [
+        15,
+        16
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        15,
+        16
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/cuav_x25-super_data.json b/docs/scripts/fc_doc_generator/metadata/cuav_x25-super_data.json
index ff75f4bda2..119eb4cd79 100644
--- a/docs/scripts/fc_doc_generator/metadata/cuav_x25-super_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/cuav_x25-super_data.json
@@ -56,6 +56,58 @@
       "bdshot_output_only": [
         8
       ]
+    },
+    {
+      "group": 3,
+      "timer": "Timer1",
+      "outputs": [
+        9,
+        10,
+        11
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9,
+        10,
+        11
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer8",
+      "outputs": [
+        12,
+        13,
+        14
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        12,
+        13,
+        14
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
+    },
+    {
+      "group": 5,
+      "timer": "Timer12",
+      "outputs": [
+        15,
+        16
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        15,
+        16
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/holybro_durandal-v1_data.json b/docs/scripts/fc_doc_generator/metadata/holybro_durandal-v1_data.json
index 9f6c0e1f29..de5b1d5353 100644
--- a/docs/scripts/fc_doc_generator/metadata/holybro_durandal-v1_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/holybro_durandal-v1_data.json
@@ -46,6 +46,40 @@
         5
       ],
       "bdshot_output_only": []
+    },
+    {
+      "group": 3,
+      "timer": "Timer2",
+      "outputs": [
+        6,
+        7,
+        8
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        6,
+        7,
+        8
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer12",
+      "outputs": [
+        9,
+        10
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9,
+        10
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/holybro_pix32v5_data.json b/docs/scripts/fc_doc_generator/metadata/holybro_pix32v5_data.json
index f68f936d87..45c6442a67 100644
--- a/docs/scripts/fc_doc_generator/metadata/holybro_pix32v5_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/holybro_pix32v5_data.json
@@ -62,6 +62,24 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer2",
+      "outputs": [
+        9,
+        10,
+        11
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9,
+        10,
+        11
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5_data.json b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5_data.json
index 74b953ccf7..ebf8adc864 100644
--- a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5_data.json
@@ -62,6 +62,24 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer2",
+      "outputs": [
+        9,
+        10,
+        11
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9,
+        10,
+        11
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5x_data.json b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5x_data.json
index f821d6cb8f..9f65ebb07e 100644
--- a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5x_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v5x_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer5",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6u_data.json b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6u_data.json
index 59d4a5edf8..2cb466796f 100644
--- a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6u_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6u_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6x_data.json b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6x_data.json
index c04bb6cbaf..ed3bfb5652 100644
--- a/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6x_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/px4_fmu-v6x_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/svehicle_e2_data.json b/docs/scripts/fc_doc_generator/metadata/svehicle_e2_data.json
index c26b779b1b..5ffca3cc19 100644
--- a/docs/scripts/fc_doc_generator/metadata/svehicle_e2_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/svehicle_e2_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/metadata/zeroone_x6_data.json b/docs/scripts/fc_doc_generator/metadata/zeroone_x6_data.json
index b4d6fce0dd..e45c02959a 100644
--- a/docs/scripts/fc_doc_generator/metadata/zeroone_x6_data.json
+++ b/docs/scripts/fc_doc_generator/metadata/zeroone_x6_data.json
@@ -65,6 +65,20 @@
       ],
       "bdshot_outputs": [],
       "bdshot_output_only": []
+    },
+    {
+      "group": 4,
+      "timer": "Timer1",
+      "outputs": [
+        9
+      ],
+      "dshot": false,
+      "dshot_outputs": [],
+      "non_dshot_outputs": [
+        9
+      ],
+      "bdshot_outputs": [],
+      "bdshot_output_only": []
     }
   ],
   "serial_ports": [
diff --git a/docs/scripts/fc_doc_generator/tests/conftest.py b/docs/scripts/fc_doc_generator/tests/conftest.py
index 6c281746ba..ec1e3a3a27 100644
--- a/docs/scripts/fc_doc_generator/tests/conftest.py
+++ b/docs/scripts/fc_doc_generator/tests/conftest.py
@@ -120,3 +120,9 @@ def board_stm32h7_variant():
 def board_stm32h7_graceful_fail():
     """STM32H7, graceful-fail pattern: BMI088 starts unconditionally AND in VD000000 block."""
     return FIXTURES_DIR / "stm32h7_graceful_fail"
+
+
+@pytest.fixture(scope="session")
+def board_stm32h7_capture_channels():
+    """STM32H7, 16 outputs: 8 regular (DShot) + 8 initIOTimerChannelCapture (no DShot)."""
+    return FIXTURES_DIR / "stm32h7_capture_channels"
diff --git a/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/default.px4board b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/default.px4board
new file mode 100644
index 0000000000..0559c5dedd
--- /dev/null
+++ b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/default.px4board
@@ -0,0 +1 @@
+# minimal fixture for capture-channel parser test
diff --git a/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/nuttx-config/nsh/defconfig b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/nuttx-config/nsh/defconfig
new file mode 100644
index 0000000000..1fdef3bc8c
--- /dev/null
+++ b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/nuttx-config/nsh/defconfig
@@ -0,0 +1,3 @@
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
diff --git a/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/board_config.h b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/board_config.h
new file mode 100644
index 0000000000..15b4741a66
--- /dev/null
+++ b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/board_config.h
@@ -0,0 +1,2 @@
+#define DIRECT_PWM_OUTPUT_CHANNELS  16
+#define BOARD_NUM_IO_TIMERS 5
diff --git a/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/timer_config.cpp b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/timer_config.cpp
new file mode 100644
index 0000000000..d1b5910d37
--- /dev/null
+++ b/docs/scripts/fc_doc_generator/tests/fixtures/stm32h7_capture_channels/src/timer_config.cpp
@@ -0,0 +1,36 @@
+#include <px4_arch/io_timer_hw_description.h>
+
+/* Fixture modelling boards like cuav/x25-evo that use initIOTimerChannelCapture
+ * for their higher-numbered outputs.  Timer5 and Timer4 have DMA (DShot); the
+ * remaining three timers do not.
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+    initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+    initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+    initIOTimer(Timer::Timer1),
+    initIOTimer(Timer::Timer8),
+    initIOTimer(Timer::Timer12),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+    initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel4}, {}),
+    initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {}),
+    initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {}),
+    initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {}),
+    initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {}),
+    initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {}),
+    initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {}),
+    initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel2}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel1}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer1, Timer::Channel3}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel2}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel3}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer8, Timer::Channel1}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel1}, {}),
+    initIOTimerChannelCapture(io_timers, {Timer::Timer12, Timer::Channel2}, {}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+    initIOTimerChannelMapping(io_timers, timer_io_channels);
diff --git a/docs/scripts/fc_doc_generator/tests/snapshots/fc_sections.md b/docs/scripts/fc_doc_generator/tests/snapshots/fc_sections.md
index 95f7ae2417..4ad9412e05 100644
--- a/docs/scripts/fc_doc_generator/tests/snapshots/fc_sections.md
+++ b/docs/scripts/fc_doc_generator/tests/snapshots/fc_sections.md
@@ -337,7 +337,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - ICP-20100 (barometer, internal)
@@ -350,7 +350,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   - ICM-42688P (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: PPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -375,7 +375,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   "chip_model": "STM32H753",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -465,14 +465,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -663,14 +664,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -1291,7 +1293,7 @@ Serial port mapping could not be determined from source.
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - BMP388 (barometer, internal)
@@ -1299,7 +1301,7 @@ Serial port mapping could not be determined from source.
 - **SPI buses**: 5
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus/CPPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -1324,7 +1326,7 @@ Serial port mapping could not be determined from source.
   "chip_model": "STM32H753",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -1413,14 +1415,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -1617,14 +1620,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -2616,7 +2620,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 
 ### Interfaces
 
-- **PWM outputs**: 9 (FMU)
+- **PWM outputs**: 10 (FMU)
 - **Serial ports**: 7
 - **I2C ports**: 2
   - BMP388 (barometer, internal, bus 4)
@@ -2649,7 +2653,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   "chip_model": "STM32H743",
   "has_io_board": false,
   "total_outputs": 10,
-  "fmu_servo_outputs": 9,
+  "fmu_servo_outputs": 10,
   "io_outputs": 0,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -2732,14 +2736,15 @@ This flight controller supports up to 10 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-8 support [DShot](../peripherals/dshot.md).
-- Output 9 does not support DShot.
+- Outputs 9-10 do not support DShot.
 - Outputs 1-8 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 10 outputs are in 3 groups:
+The 10 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Outputs 5-8 in group2 (Timer3)
 - Output 9 in group3 (Timer5)
+- Output 10 in group4 (Timer8)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -2933,7 +2938,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - BMP388 (barometer, internal)
@@ -2946,7 +2951,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   - ICM-20602 (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus/CPPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -2970,7 +2975,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   "chip_model": "STM32H753",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -3056,14 +3061,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -4478,7 +4484,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 8 (FMU)
+- **PWM outputs**: 14 (FMU)
 - **Serial ports**: 7
 - **I2C ports**: 4
   - ICP-20100 (barometer, internal)
@@ -4514,7 +4520,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32H753",
   "has_io_board": false,
   "total_outputs": 14,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 14,
   "io_outputs": 0,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -4599,14 +4605,17 @@ This flight controller supports up to 14 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-14 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 14 outputs are in 3 groups:
+The 14 outputs are in 6 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer1)
+- Outputs 9-11 in group4 (Timer8)
+- Output 12 in group5 (Timer15)
+- Outputs 13-14 in group6 (Timer12)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -4808,7 +4817,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - BMP581 (barometer, external, bus 2)
@@ -4821,7 +4830,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   - ICM-45686 (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: PPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -4846,7 +4855,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   "chip_model": "STM32H753",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -4934,14 +4943,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -5132,14 +5142,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -5526,7 +5537,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 8 (FMU)
+- **PWM outputs**: 16 (FMU)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - ICP-20100 (barometer, internal, bus 4)
@@ -5562,7 +5573,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32H743",
   "has_io_board": false,
   "total_outputs": 16,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 16,
   "io_outputs": 0,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -5648,13 +5659,17 @@ This flight controller supports up to 16 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-8 support [DShot](../peripherals/dshot.md).
+- Outputs 9-16 do not support DShot.
 - Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 - Output 8 supports Bidirectional DShot output only (no eRPM capture).
 
-The 16 outputs are in 2 groups:
+The 16 outputs are in 5 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-8 in group2 (Timer4)
+- Outputs 9-11 in group3 (Timer1)
+- Outputs 12-14 in group4 (Timer8)
+- Outputs 15-16 in group5 (Timer12)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -5841,13 +5856,17 @@ This flight controller supports up to 16 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-8 support [DShot](../peripherals/dshot.md).
+- Outputs 9-16 do not support DShot.
 - Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 - Output 8 supports Bidirectional DShot output only (no eRPM capture).
 
-The 16 outputs are in 2 groups:
+The 16 outputs are in 5 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-8 in group2 (Timer4)
+- Outputs 9-11 in group3 (Timer1)
+- Outputs 12-14 in group4 (Timer8)
+- Outputs 15-16 in group5 (Timer12)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -5876,7 +5895,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 8 (FMU)
+- **PWM outputs**: 16 (FMU)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - ICP-20100 (barometer, internal, bus 4)
@@ -5912,7 +5931,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32H743",
   "has_io_board": false,
   "total_outputs": 16,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 16,
   "io_outputs": 0,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -5997,13 +6016,17 @@ This flight controller supports up to 16 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-8 support [DShot](../peripherals/dshot.md).
+- Outputs 9-16 do not support DShot.
 - Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 - Output 8 supports Bidirectional DShot output only (no eRPM capture).
 
-The 16 outputs are in 2 groups:
+The 16 outputs are in 5 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-8 in group2 (Timer4)
+- Outputs 9-11 in group3 (Timer1)
+- Outputs 12-14 in group4 (Timer8)
+- Outputs 15-16 in group5 (Timer12)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -6190,13 +6213,17 @@ This flight controller supports up to 16 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-8 support [DShot](../peripherals/dshot.md).
+- Outputs 9-16 do not support DShot.
 - Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 - Output 8 supports Bidirectional DShot output only (no eRPM capture).
 
-The 16 outputs are in 2 groups:
+The 16 outputs are in 5 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-8 in group2 (Timer4)
+- Outputs 9-11 in group3 (Timer1)
+- Outputs 12-14 in group4 (Timer8)
+- Outputs 15-16 in group5 (Timer12)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -6596,6 +6623,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
 - **CAN buses**: 2
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -6932,6 +6960,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
 - **CAN buses**: 2
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -7270,6 +7299,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
 - **CAN buses**: 2
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -9642,7 +9672,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 
 ### Interfaces
 
-- **PWM outputs**: 13 (5 FMU + 8 IO)
+- **PWM outputs**: 18 (10 FMU + 8 IO)
 - **Serial ports**: 7
 - **I2C ports**: 4
   - IST8310 (magnetometer, internal)
@@ -9652,6 +9682,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   - MS5611 (barometer)
 - **CAN buses**: 2
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -9675,7 +9706,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   "chip_model": "STM32H743",
   "has_io_board": true,
   "total_outputs": 10,
-  "fmu_servo_outputs": 5,
+  "fmu_servo_outputs": 10,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": false,
@@ -9758,12 +9789,18 @@ For battery and power module configuration see [Battery and Power Module Setup](
 
 This flight controller supports up to 10 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).
 
-All FMU outputs support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+FMU Outputs:
 
-The 10 outputs are in 2 groups:
+- Outputs 1-5 support [DShot](../peripherals/dshot.md).
+- Outputs 6-10 do not support DShot.
+- Outputs 1-5 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+
+The 10 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Output 5 in group2 (Timer4)
+- Outputs 6-8 in group3 (Timer2)
+- Outputs 9-10 in group4 (Timer12)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -9945,12 +9982,18 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 
 This flight controller supports up to 10 FMU PWM outputs (AUX) and 8 IO PWM outputs (MAIN).
 
-All FMU outputs support [DShot](../peripherals/dshot.md) and [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+FMU Outputs:
 
-The 10 outputs are in 2 groups:
+- Outputs 1-5 support [DShot](../peripherals/dshot.md).
+- Outputs 6-10 do not support DShot.
+- Outputs 1-5 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+
+The 10 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Output 5 in group2 (Timer4)
+- Outputs 6-8 in group3 (Timer2)
+- Outputs 9-10 in group4 (Timer12)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -11970,7 +12013,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 19 (11 FMU + 8 IO)
 - **Serial ports**: 7
 - **I2C ports**: 4
   - IST8310 (magnetometer, internal)
@@ -11982,7 +12025,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
 - **CAN buses**: 3
 - **USB**: Yes
-- **RC input**: PPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -12005,7 +12048,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32F765",
   "has_io_board": true,
   "total_outputs": 11,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 11,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": false,
@@ -12091,14 +12134,15 @@ This flight controller supports up to 11 FMU PWM outputs (AUX) and 8 IO PWM outp
 FMU Outputs:
 
 - Outputs 1-4 support [DShot](../peripherals/dshot.md).
-- Outputs 5-8 do not support DShot.
+- Outputs 5-11 do not support DShot.
 - Outputs 1-4 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 11 outputs are in 3 groups:
+The 11 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Outputs 9-11 in group4 (Timer2)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -12283,14 +12327,15 @@ This flight controller supports up to 11 FMU PWM outputs (AUX) and 8 IO PWM outp
 FMU Outputs:
 
 - Outputs 1-4 support [DShot](../peripherals/dshot.md).
-- Outputs 5-8 do not support DShot.
+- Outputs 5-11 do not support DShot.
 - Outputs 1-4 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 11 outputs are in 3 groups:
+The 11 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Outputs 9-11 in group4 (Timer2)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -15173,7 +15218,7 @@ All outputs within the same group must use the same output protocol and rate.
   - ICM-42688P (IMU)
 - **CAN buses**: 1
 - **USB**: Yes
-- **RC input**: PPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -17683,6 +17728,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MPU-9250 (IMU)
   - MS5611 (barometer)
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -17990,6 +18036,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MPU-9250 (IMU)
   - MS5611 (barometer)
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -20816,6 +20863,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
   - HMC5883L (magnetometer)
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -21122,6 +21170,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
   - HMC5883L (magnetometer)
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -21728,7 +21777,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
   - LIS3MDL (magnetometer)
 - **USB**: Yes
-- **RC input**: PPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -22032,7 +22081,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 19 (11 FMU + 8 IO)
 - **Serial ports**: 7
 - **I2C ports**: 4
   - IST8310 (magnetometer, internal)
@@ -22043,7 +22092,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MS5611 (barometer)
 - **CAN buses**: 3
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus/CPPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -22067,7 +22116,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32F765",
   "has_io_board": true,
   "total_outputs": 11,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 11,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": false,
@@ -22154,14 +22203,15 @@ This flight controller supports up to 11 FMU PWM outputs (AUX) and 8 IO PWM outp
 FMU Outputs:
 
 - Outputs 1-4 support [DShot](../peripherals/dshot.md).
-- Outputs 5-8 do not support DShot.
+- Outputs 5-11 do not support DShot.
 - Outputs 1-4 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 11 outputs are in 3 groups:
+The 11 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Outputs 9-11 in group4 (Timer2)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -22345,14 +22395,15 @@ This flight controller supports up to 11 FMU PWM outputs (AUX) and 8 IO PWM outp
 FMU Outputs:
 
 - Outputs 1-4 support [DShot](../peripherals/dshot.md).
-- Outputs 5-8 do not support DShot.
+- Outputs 5-11 do not support DShot.
 - Outputs 1-4 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 11 outputs are in 3 groups:
+The 11 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Outputs 9-11 in group4 (Timer2)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -22382,7 +22433,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - BMM150 (magnetometer, internal)
@@ -22392,7 +22443,7 @@ All outputs within the same group must use the same output protocol and rate.
   - ICM-20602 (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus/CPPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -22417,7 +22468,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32F765",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -22508,14 +22559,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer5)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -22711,14 +22763,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer1)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer5)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -22758,6 +22811,7 @@ All outputs within the same group must use the same output protocol and rate.
   - ICM-42688P (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -23097,7 +23151,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 8 (FMU)
+- **PWM outputs**: 9 (FMU)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - BMP388 (barometer, internal)
@@ -23132,7 +23186,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32H753",
   "has_io_board": false,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 0,
   "has_sd_card": true,
   "has_ethernet": false,
@@ -23218,14 +23272,15 @@ This flight controller supports up to 9 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -23413,14 +23468,15 @@ This flight controller supports up to 9 FMU PWM outputs (MAIN).
 Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -23450,14 +23506,14 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - IST8310 (magnetometer, external, bus 1)
 - **SPI buses**: 5
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus/CPPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -23482,7 +23538,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32H753",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -23574,14 +23630,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -23777,14 +23834,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -23822,7 +23880,7 @@ All outputs within the same group must use the same output protocol and rate.
   - IST8310 (magnetometer, external, bus 1)
 - **SPI buses**: 4
 - **USB**: TODO: confirm USB connector type
-- **RC input**: DSM/SRXL2, S.Bus/CPPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -24460,7 +24518,7 @@ Serial port mapping could not be determined from source.
   - BMI088 (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -25072,6 +25130,7 @@ Serial port mapping could not be determined from source.
   - MS5611 (barometer)
 - **CAN buses**: 1
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -25385,7 +25444,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   - MPU-9250 (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: PPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -26044,7 +26103,7 @@ All outputs within the same group must use the same output protocol and rate.
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - ICP-20100 (barometer, external)
@@ -26057,7 +26116,7 @@ All outputs within the same group must use the same output protocol and rate.
   - ICM-20649 (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus/CPPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -26082,7 +26141,7 @@ All outputs within the same group must use the same output protocol and rate.
   "chip_model": "STM32H753",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -26172,14 +26231,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
@@ -26370,14 +26430,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 -->
@@ -26414,6 +26475,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MPU-9250 (IMU)
   - MS5611 (barometer)
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -26715,6 +26777,7 @@ All outputs within the same group must use the same output protocol and rate.
   - MPU-9250 (IMU)
   - MS5611 (barometer)
 - **USB**: Yes
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -27301,7 +27364,7 @@ Serial port mapping could not be determined from source.
   - BMI270 (IMU)
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: DSM/SRXL2, S.Bus
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST (via IO)
 - **Analog battery inputs**: 1
 - **Additional analog inputs**: TODO: number of additional analog inputs
 
@@ -28580,7 +28643,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 
 ### Interfaces
 
-- **PWM outputs**: 16 (8 FMU + 8 IO)
+- **PWM outputs**: 17 (9 FMU + 8 IO)
 - **Serial ports**: 8
 - **I2C ports**: 4
   - ICP-20100 (barometer, internal)
@@ -28591,7 +28654,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
 - **SPI buses**: 5
 - **CAN buses**: 2
 - **USB**: Yes
-- **RC input**: PPM
+- **RC input**: SBUS, DSM/DSMX, ST24, SUMD, CRSF, GHST, PPM (via IO)
 - **Analog battery inputs**: 2
 - **Additional analog inputs**: TODO: number of additional analog inputs
 - **Ethernet**: Yes
@@ -28616,7 +28679,7 @@ For more information see [Basic Concepts > SD Cards (Removable Memory)](../getti
   "chip_model": "STM32H753",
   "has_io_board": true,
   "total_outputs": 9,
-  "fmu_servo_outputs": 8,
+  "fmu_servo_outputs": 9,
   "io_outputs": 8,
   "has_sd_card": true,
   "has_ethernet": true,
@@ -28701,14 +28764,15 @@ This flight controller supports up to 9 FMU PWM outputs (AUX) and 8 IO PWM outpu
 FMU Outputs:
 
 - Outputs 1-6 support [DShot](../peripherals/dshot.md).
-- Outputs 7-8 do not support DShot.
+- Outputs 7-9 do not support DShot.
 - Outputs 1-6 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
 
-The 9 outputs are in 3 groups:
+The 9 outputs are in 4 groups:
 
 - Outputs 1-4 in group1 (Timer5)
 - Outputs 5-6 in group2 (Timer4)
 - Outputs 7-8 in group3 (Timer12)
+- Output 9 in group4 (Timer1)
 
 All outputs within the same group must use the same output protocol and rate.
 ```
diff --git a/docs/scripts/fc_doc_generator/tests/snapshots/pwm_stm32h7_capture_channels.md b/docs/scripts/fc_doc_generator/tests/snapshots/pwm_stm32h7_capture_channels.md
new file mode 100644
index 0000000000..bb60990b9f
--- /dev/null
+++ b/docs/scripts/fc_doc_generator/tests/snapshots/pwm_stm32h7_capture_channels.md
@@ -0,0 +1,20 @@
+## PWM Outputs {#pwm_outputs}
+
+This flight controller supports up to 16 FMU PWM outputs (MAIN).
+
+Outputs:
+
+- Outputs 1-8 support [DShot](../peripherals/dshot.md).
+- Outputs 9-16 do not support DShot.
+- Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry).
+- Output 8 supports Bidirectional DShot output only (no eRPM capture).
+
+The 16 outputs are in 5 groups:
+
+- Outputs 1-4 in group1 (Timer5)
+- Outputs 5-8 in group2 (Timer4)
+- Outputs 9-11 in group3 (Timer1)
+- Outputs 12-14 in group4 (Timer8)
+- Outputs 15-16 in group5 (Timer12)
+
+All outputs within the same group must use the same output protocol and rate.
\ No newline at end of file
diff --git a/docs/scripts/fc_doc_generator/tests/test_compute.py b/docs/scripts/fc_doc_generator/tests/test_compute.py
index 813459eabc..eecac1d1d3 100644
--- a/docs/scripts/fc_doc_generator/tests/test_compute.py
+++ b/docs/scripts/fc_doc_generator/tests/test_compute.py
@@ -148,3 +148,45 @@ class TestComputeBdshot:
         groups = fcdg.compute_groups(timers, channels)
         groups = fcdg.compute_bdshot(groups, channels, "unknown")
         assert all(g["bdshot_outputs"] == [] for g in groups)
+
+    def test_capture_channel_no_bdshot_on_no_dma_timers(self, board_stm32h7_capture_channels):
+        # Timer1/Timer8/Timer12 have no DMA → dshot=False → bdshot=False
+        timers, channels = _parse(board_stm32h7_capture_channels)
+        groups = fcdg.compute_groups(timers, channels)
+        groups = fcdg.compute_bdshot(groups, channels, "stm32h7")
+        for g in groups:
+            if g["timer"] in ("Timer1", "Timer8", "Timer12"):
+                assert g["dshot"] is False
+                assert g["bdshot"] is False
+                assert g["bdshot_outputs"] == []
+
+
+class TestComputeGroupsCapture:
+    def test_capture_group_count(self, board_stm32h7_capture_channels):
+        timers, channels = _parse(board_stm32h7_capture_channels)
+        groups = fcdg.compute_groups(timers, channels)
+        assert len(groups) == 5
+
+    def test_capture_total_outputs(self, board_stm32h7_capture_channels):
+        timers, channels = _parse(board_stm32h7_capture_channels)
+        groups = fcdg.compute_groups(timers, channels)
+        all_outputs = sorted(o for g in groups for o in g["outputs"])
+        assert all_outputs == list(range(1, 17))
+
+    def test_capture_dshot_only_on_dma_timers(self, board_stm32h7_capture_channels):
+        timers, channels = _parse(board_stm32h7_capture_channels)
+        groups = fcdg.compute_groups(timers, channels)
+        dshot_groups = {g["timer"] for g in groups if g["dshot"]}
+        assert dshot_groups == {"Timer5", "Timer4"}
+        non_dshot_groups = {g["timer"] for g in groups if not g["dshot"]}
+        assert non_dshot_groups == {"Timer1", "Timer8", "Timer12"}
+
+    def test_capture_timer_group_memberships(self, board_stm32h7_capture_channels):
+        timers, channels = _parse(board_stm32h7_capture_channels)
+        groups = fcdg.compute_groups(timers, channels)
+        by_timer = {g["timer"]: g["outputs"] for g in groups}
+        assert by_timer["Timer5"] == [1, 2, 3, 4]
+        assert by_timer["Timer4"] == [5, 6, 7, 8]
+        assert by_timer["Timer1"] == [9, 10, 11]
+        assert by_timer["Timer8"] == [12, 13, 14]
+        assert by_timer["Timer12"] == [15, 16]
diff --git a/docs/scripts/fc_doc_generator/tests/test_generators.py b/docs/scripts/fc_doc_generator/tests/test_generators.py
index 7c21d1a73f..62f1471392 100644
--- a/docs/scripts/fc_doc_generator/tests/test_generators.py
+++ b/docs/scripts/fc_doc_generator/tests/test_generators.py
@@ -107,6 +107,29 @@ def _entry_imxrt():
     }
 
 
+def _entry_stm32h7_capture_channels():
+    """16 outputs: 8 with DShot (Timer5/Timer4) + 8 capture-only (Timer1/Timer8/Timer12)."""
+    return {
+        "has_io_board": False, "total_outputs": 16, "io_outputs": 0,
+        "serial_ports": [],
+        "has_rc_input": False, "has_common_rc": False, "rc_serial_device": None,
+        "has_ppm_pin": False, "ppm_shared_with_rc_serial": False,
+        "has_pps_capture": False, "has_safety_switch": False, "has_safety_led": False,
+        "has_buzzer": False,
+        "num_power_inputs": 1, "has_redundant_power": False,
+        "has_dual_battery_monitoring": False, "has_dronecan_power_input": False,
+        "power_monitor_type": "analog", "has_sd_card": True,
+        "rc_ports_wizard": None, "gps_ports_wizard": None, "power_ports_wizard": None,
+        "groups": [
+            _group(1, "Timer5", [1, 2, 3, 4], bdshot_outputs=[1, 2, 3, 4]),
+            _group(2, "Timer4", [5, 6, 7, 8], bdshot_outputs=[5, 6, 7], bdshot_output_only=[8]),
+            _group(3, "Timer1", [9, 10, 11], dshot=False),
+            _group(4, "Timer8", [12, 13, 14], dshot=False),
+            _group(5, "Timer12", [15, 16], dshot=False),
+        ],
+    }
+
+
 def _entry_stm32f4_no_dshot():
     return {
         "has_io_board": False, "total_outputs": 6, "io_outputs": 0,
@@ -151,6 +174,10 @@ class TestGeneratePwmSection:
         result = fcdg.generate_pwm_section(BOARD_KEY, _entry_imxrt())
         snapshot("pwm_imxrt_all_dshot.md", result)
 
+    def test_stm32h7_capture_channels(self, snapshot):
+        result = fcdg.generate_pwm_section(BOARD_KEY, _entry_stm32h7_capture_channels())
+        snapshot("pwm_stm32h7_capture_channels.md", result)
+
     def test_stm32f4_no_dshot(self, snapshot):
         result = fcdg.generate_pwm_section(BOARD_KEY, _entry_stm32f4_no_dshot())
         snapshot("pwm_stm32f4_no_dshot.md", result)
diff --git a/docs/scripts/fc_doc_generator/tests/test_parsers.py b/docs/scripts/fc_doc_generator/tests/test_parsers.py
index e94276dec5..97e5d52570 100644
--- a/docs/scripts/fc_doc_generator/tests/test_parsers.py
+++ b/docs/scripts/fc_doc_generator/tests/test_parsers.py
@@ -112,6 +112,24 @@ class TestParseTimerConfig:
         result = fcdg.parse_timer_config(board_imxrt)
         assert len(result["channels"]) == 8
 
+    def test_capture_channel_count(self, board_stm32h7_capture_channels):
+        # 8 regular + 8 initIOTimerChannelCapture = 16 total
+        result = fcdg.parse_timer_config(board_stm32h7_capture_channels)
+        assert len(result["channels"]) == 16
+
+    def test_capture_channels_include_capture_timers(self, board_stm32h7_capture_channels):
+        result = fcdg.parse_timer_config(board_stm32h7_capture_channels)
+        timer_names = {ch["timer"] for ch in result["channels"]}
+        assert "Timer1" in timer_names
+        assert "Timer8" in timer_names
+        assert "Timer12" in timer_names
+
+    def test_capture_channels_output_indices(self, board_stm32h7_capture_channels):
+        # All 16 outputs are numbered 1..16 in order
+        result = fcdg.parse_timer_config(board_stm32h7_capture_channels)
+        indices = [ch["output_index"] for ch in result["channels"]]
+        assert indices == list(range(1, 17))
+
     def test_stm32f4_no_dshot(self, board_stm32f4):
         result = fcdg.parse_timer_config(board_stm32f4)
         assert all(not t["dshot"] for t in result["timers"])