ArduPilot Instructions

ARKV6X Flight Controller Overview — Copter documentation

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.