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

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.