Nascov Victor

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I give up the GPS momentarily. There is no simple solution. My last idea to use the SWD pins as input pins for the left gimbal doesn't work: that pins...

No, because I have put a bluetooth module there (UART6). And at the debug port (UART3) I have made connections for R9M ACCESS.

Thank you, but I have touchscreen. Is this a good tool for SWD? https://ardushop.ro/en/home/1288-programator-compatibil-st-link-v2-stm8-stm32.html It's the cheapest I can get.