# ArduPilot Instructions

{% embed url="<https://ardupilot.org/copter/docs/common-ark-fpv.html>" %}
ARK FPV ArduPilot Documentation
{% endembed %}

### Flashing Firmware

Firmware can be flashed over USB C using [QGroundControl](https://qgroundcontrol.com/).

### Building Firmware

```
./waf configure --board ARK_FPV
./waf copter
```

and optionally upload

```
./waf copter --upload
```

### UART Mapping

| Name    | Function                                   |
| ------- | ------------------------------------------ |
| SERIAL0 | USB                                        |
| SERIAL1 | UART7 (Telem)                              |
| SERIAL2 | UART5 (DisplayPort HD VTX)                 |
| SERIAL3 | USART1 (GPS1)                              |
| SERIAL4 | USART2 (User, SBUS pin on HD VTX, RX only) |
| SERIAL5 | UART4 (ESC Telem, RX only)                 |
| SERIAL6 | USART6 (RC Input)                          |
| SERIAL7 | OTG2 (SLCAN)                               |

All UARTS support DMA. Any UART may be re-tasked by changing its protocol parameter.

The hardware definition for Ardupilot can be found here:\
<https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV>


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.arkelectron.com/products/flight-controller/ark-fpv/ardupilot-instructions.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.