I know the RC_ROLL port may be used as a second serial port:

(from the SimpleBGC manual) "SBGC Serial API 2nd UART – in this mode, RC_ROLL input can handle Serial API commands. It lets us expand the board functionality by connecting external devices, implementing SBGC Serial API protocol. If RC_YAW pin is not occupied, it acts as TX pin of this UART, allowing to use bi-directional communication. If RC_YAW pin is occupied, only RX functionality is possible (in other words, external device can send commands to the board, but can't read answers)."

Does this still work when using encoders? I am guessing this will be easier with the new Extended board which has dedicated encoder inputs, correct?

Thanks!