> For the complete documentation index, see [llms.txt](https://docs.arkelectron.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.arkelectron.com/products/embedded-computers/ark-just-a-jetson/using-ark-os/updating-the-flight-controller-firmware.md).

# Updating the Flight Controller Firmware

Flash PX4 or ArduPilot firmware on a USB-connected flight controller.

The Just a Jetson has no onboard flight controller, but ARK-OS can flash one connected over USB.

## From the Web UI

Open the [ARK-UI](http://jetson.local) **Autopilot** page, select the **Firmware** tab, and upload a `.px4` or `.apj` firmware file.

<figure><img src="https://1515919775-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FOwmEn1N45AR4WjMQhHlu%2Fuploads%2Fgit-blob-d94575485b62d808f04c27b534992ec232c6613f%2Fark-ui-autopilot-firmware.png?alt=media" alt=""><figcaption></figcaption></figure>

## From the Command Line

SSH into the Jetson and run the ARK-OS flashing tool (on `PATH`):

```bash
flash_firmware.sh <firmware.px4>
```

## Firmware Binaries

* **PX4**: [PX4 releases page](https://github.com/PX4/PX4-Autopilot/releases/)
* **ArduPilot**: [firmware.ardupilot.org](https://firmware.ardupilot.org/)

If the flight controller does not enumerate over USB, recover the bootloader over SWD: [ST-LINK Flashing Guide](/knowledge-base/knowledge-base/st-link-flashing-guide.md#flashing-px4-flight-controllers).


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