Firmware
AM32 Bootloader Firmware
The ARK 4IN1 uses AM32_F051_BOOTLOADER_PB4. You can find the latest release here.
AM32 App Firmware
Use the latest release of AM32.
Low KV Large Prop Systems
For low KV motors and large props, use the ARK_4IN1_RAMP_F051 firmware which increases the maximum 0-100% ramp time to 200ms. When flashing back and forth from the standard ARK_4IN1 firmware, select "Ignore current MCU layout".
Flashing Firmware
You can flash firmware using ESC Passthrough (Betaflight and Ardupilot) or using SWD. The easiest method is to use Betaflight ESC Passthrough.
Betaflight ESC Passthrough
Connect the ESC to a Flight Controller flashed with Betaflight (eg ARK FPV). Power on your ESC and Flight controller and connect to your Host PC via USB. Navigate to https://am32.ca/configurator.
Connect to your device
Once connected, select Read
If successful you should see all of the settings for each motor
Ardupilot ESC Passthrough
Connect the ESC to a Flight Controller flashed with Ardupilot (eg ARK FPV). Power on your ESC and Flight controller and connect to your Host PC via USB. Modify the Ardupilot parameters using QGroundControl:
Setup Ardupilot parameters to use DShot
## Motor mapping
SERVO1_FUNCTION 34 # Motor 2
SERVO2_FUNCTION 35 # Motor 3
SERVO3_FUNCTION 36 # Motor 4
SERVO4_FUNCTION 33 # Motor 1
## Dshot ESC setup
MOT_PWM_TYPE 6 # DShot600
1 # BLHeli32/Kiss
## Bidirectional Dshot ESC setup
SERVO_BLH_BDMASK 15 # Channels 1 - 4Setup Ardupilot parameters for ESC Passthrough
## ESC Passthrough
SERVO_BLH_AUTO to 1
SERVO_BLH_MASK to 15 (if using output channels 1 - 4)From here the rest is the same as Betalfight. Navigate to https://am32.ca/configurator and select the Connect and Read buttons.
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