ArduPilot Instructions
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
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.
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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