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I was wondering if there are better flight controllers for my purpose (may be the wrong subreddit for that) but currently the flight controller has an input for an antenna that supports all RC protocols. A schematic of the board can be found here (https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ChibiOS/hwdef/KakuteF7/README.md).
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