{% embed url="https://ardupilot.org/copter/docs/common-ark-v6x-overview.html" %} ARKV6X ArduPilot Documentation {% endembed %}
Firmware can be flashed over USB C using QGroundControl.
./waf configure --board ARKV6X
./waf copter
and optionally upload
./waf copter --upload
{% hint style="info" %} Serial Port Mapping for Default Firmware with No IOMCU {% endhint %}
| UART | Serial Number | Port |
|---|---|---|
| UART7 | SERIAL1 | TELEM1 |
| UART5 | SERIAL2 | TELEM2 |
| USART1 | SERIAL3 | GPS |
| UART8 | SERIAL4 | GPS2 |
| USART2 | SERIAL5 | TELEM3 |
| UART4 | SERIAL6 | UART4 & I2C |
| USART3 | SERIAL7 | Debug Console |
| USART6 | SERIAL8 | PX4IO/RC |
When using the ARKV6X on a carrier board with an IOMCU, the following modifications to the hwdef need to be made.
Swap the SERIAL_ORDER line comments to remove USART6 from the available serial ports.
Uncomment the IOMCU_UART line to use USART6 for the IOMCU.
https://github.com/ArduPilot/ardupilot/blob/Copter-4.6.0/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat#L91
Build and flash the firmware using the steps above.