ArduPilot Instructions

ARKV6X ArduPilot Documentation

Flashing Firmware

Firmware can be flashed over USB C using QGroundControl.

Building Firmware

./waf configure --board ARKV6X
./waf copter

and optionally upload

./waf copter --upload

Serial Port Mapping

Serial Port Mapping for Default Firmware with No IOMCU

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

hwdef modifications for use with an IOMCU

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.

https://github.com/ArduPilot/ardupilot/blob/Copter-4.6.0/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat#L30-L34

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.

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