> 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/flight-controller/ark-fpv/hardware.md).

# Hardware Reference

## Specifications

| Specification      | Value                                                                                                                                                                          |
| ------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| MCU                | [STM32H743IIK6](https://www.st.com/en/microcontrollers-microprocessors/stm32h743ii.html), 480 MHz, 2 MB flash, 1 MB RAM                                                        |
| IMU                | [Invensense IIM-42653](https://invensense.tdk.com/products/smartindustrial/iim-42653/) industrial IMU                                                                          |
| Barometer          | [Bosch BMP390](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html)                                                   |
| Magnetometer       | [ST IIS2MDC](https://www.st.com/en/mems-and-sensors/iis2mdc.html)                                                                                                              |
| Heater             | 1 W, for warming sensors in extreme cold                                                                                                                                       |
| Storage            | MicroSD slot                                                                                                                                                                   |
| Indicators         | LEDs                                                                                                                                                                           |
| Interfaces         | USB-C (VBUS in, USB), 9 PWM outputs, CAN, GPS (UART, I2C), TELEM (UART with flow control), RC (UART), VTX (12 V, two UARTs), SPI for an OSD or external IMU, debug (UART, SWD) |
| Battery input      | 5.5–54 V (3S–12S). Zener diode, 54 V standoff, 60 V breakdown                                                                                                                  |
| 5 V regulator      | 2 A                                                                                                                                                                            |
| Power draw         | 500 mA: 300 mA main system, 200 mA heater                                                                                                                                      |
| 12 V regulator     | 2 A, for video transmitters and payloads. Tracks VBAT when VBAT is below 12 V. Power control from the MCU (pit switch)                                                         |
| Voltage monitoring | VBAT in, 5.0 V, 12.0 V, 3.3 V FMU, 3.3 V sensors                                                                                                                               |
| Mounting           | 30.5 mm                                                                                                                                                                        |
| Dimensions         | 3.6 × 3.6 × 0.8 cm                                                                                                                                                             |
| Weight             | 7.5 g with MicroSD card                                                                                                                                                        |

## Pinout

<figure><img src="https://1515919775-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FOwmEn1N45AR4WjMQhHlu%2Fuploads%2FloHWaQorAkLLDQp7NcRQ%2FAcrobat_IDpk1kUSKm.png?alt=media&amp;token=7d343ce4-00b2-4ffc-9c30-1788e777beab" alt=""><figcaption><p>ARK FPV Flight Controller Top</p></figcaption></figure>

<figure><img src="https://1515919775-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FOwmEn1N45AR4WjMQhHlu%2Fuploads%2FT9JCPl3q1E6UfUVnUrBm%2FAcrobat_Vz8k0IUfcj.png?alt=media&amp;token=167d598e-4c0d-4c29-80cb-7191c1f53b25" alt=""><figcaption><p>ARK FPV Flight Controller Bottom</p></figcaption></figure>

### PWM UART4 — 8-pin JST-GH

| Pin | Signal         | Voltage  |
| --- | -------------- | -------- |
| 1   | VBAT IN        | 5.5V-54V |
| 2   | CURR\_IN\_EXT  | 3.3V     |
| 3   | UART4\_RX\_EXT | 3.3V     |
| 4   | FMU\_CH1\_EXT  | 3.3V     |
| 5   | FMU\_CH2\_EXT  | 3.3V     |
| 6   | FMU\_CH3\_EXT  | 3.3V     |
| 7   | FMU\_CH4\_EXT  | 3.3V     |
| 8   | GND            | GND      |

### RC — 4-pin JST-GH

| Pin | Signal                  | Voltage |
| --- | ----------------------- | ------- |
| 1   | 5.0V                    | 5.0V    |
| 2   | USART6\_RX\_IN\_EXT     | 3.3V    |
| 3   | USART6\_TX\_OUTPUT\_EXT | 3.3V    |
| 4   | GND                     | GND     |

### PWM EXTRA — 6-pin JST-SH

| Pin | Signal        | Voltage |
| --- | ------------- | ------- |
| 1   | FMU\_CH5\_EXT | 3.3V    |
| 2   | FMU\_CH6\_EXT | 3.3V    |
| 3   | FMU\_CH7\_EXT | 3.3V    |
| 4   | FMU\_CH8\_EXT | 3.3V    |
| 5   | FMU\_CH9\_EXT | 3.3V    |
| 6   | GND           | GND     |

### POWER AUX — 3-pin JST-GH

| Pin | Signal      | Voltage  |
| --- | ----------- | -------- |
| 1   | 12.0V       | 12.0V    |
| 2   | GND         | GND      |
| 3   | VBAT IN/OUT | 5.5V-54V |

### CAN — 4-pin JST-GH

| Pin | Signal  | Voltage |
| --- | ------- | ------- |
| 1   | 5.0V    | 5.0V    |
| 2   | CAN1\_P | 5.0V    |
| 3   | CAN1\_N | 5.0V    |
| 4   | GND     | GND     |

### GPS — 6-pin JST-GH

| Pin | Signal                | Voltage |
| --- | --------------------- | ------- |
| 1   | 5.0V                  | 5.0V    |
| 2   | USART1\_TX\_GPS1\_EXT | 3.3V    |
| 3   | USART1\_RX\_GPS1\_EXT | 3.3V    |
| 4   | I2C1\_SCL\_GPS1\_EXT  | 3.3V    |
| 5   | I2C1\_SDA\_GPS1\_EXT  | 3.3V    |
| 6   | GND                   | GND     |

### TELEM — 6-pin JST-GH

| Pin | Signal                  | Voltage |
| --- | ----------------------- | ------- |
| 1   | 5.0V                    | 5.0V    |
| 2   | UART7\_TX\_TELEM1\_EXT  | 3.3V    |
| 3   | UART7\_RX\_TELEM1\_EXT  | 3.3V    |
| 4   | UART7\_CTS\_TELEM1\_EXT | 3.3V    |
| 5   | UART7\_RTS\_TELEM1\_EXT | 3.3V    |
| 6   | GND                     | GND     |

### VTX — 6-pin JST-GH

| Pin | Signal                  | Voltage |
| --- | ----------------------- | ------- |
| 1   | 12.0V                   | 12.0V   |
| 2   | GND                     | GND     |
| 3   | UART5\_TX\_TELEM2\_EXT  | 3.3V    |
| 4   | UART5\_RX\_TELEM2\_EXT  | 3.3V    |
| 5   | USART2\_RX\_TELEM3\_EXT | 3.3V    |
| 6   | GND                     | GND     |

### SPI (OSD or IMU) — 8-pin JST-SH

| Pin | Signal            | Voltage |
| --- | ----------------- | ------- |
| 1   | 5.0V              | 5.0V    |
| 2   | SPI6\_SCK\_EXT    | 3.3V    |
| 3   | SPI6\_MISO\_EXT   | 3.3V    |
| 4   | SPI6\_MOSI\_EXT   | 3.3V    |
| 5   | SPI6\_nCS1\_EXT   | 3.3V    |
| 6   | SPI6\_DRDY1\_EXT  | 3.3V    |
| 7   | SPI6\_nRESET\_EXT | 3.3V    |
| 8   | GND               | GND     |

### Flight Controller Debug — 6-pin JST-SH

| Pin | Signal            | Voltage |
| --- | ----------------- | ------- |
| 1   | 3V3\_FMU          | 3.3V    |
| 2   | USART3\_TX\_DEBUG | 3.3V    |
| 3   | USART3\_RX\_DEBUG | 3.3V    |
| 4   | FMU\_SWDIO        | 3.3V    |
| 5   | FMU\_SWCLK        | 3.3V    |
| 6   | GND               | GND     |

## UART Port Mapping

| UART   | Connector | PX4 name | NuttX tty  |
| ------ | --------- | -------- | ---------- |
| USART1 | GPS       | GPS1     | /dev/ttyS0 |
| USART2 | VTX       | Telem3   | /dev/ttyS1 |
| USART3 | Debug     | Debug    | /dev/ttyS2 |
| UART4  | PWM       | UART4    | /dev/ttyS3 |
| UART5  | VTX       | Telem2   | /dev/ttyS4 |
| USART6 | RC        | USART6   | /dev/ttyS5 |
| UART7  | Telem     | Telem1   | /dev/ttyS6 |

## 3D Model and Case

| File                                                                                                                                   | Contents               |
| -------------------------------------------------------------------------------------------------------------------------------------- | ---------------------- |
| [ARK\_FPV\_Rev\_1.0.step](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_FPV/model/ARK_FPV_Rev_1.0.step)                 | Board, rev 1.0         |
| [ARK\_FPV\_Rev\_1.0\_PDF3D.pdf](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_FPV/model/ARK_FPV_Rev_1.0_PDF3D.pdf)      | Board, rev 1.0, 3D PDF |
| [Top\_ARK\_FPV\_Case\_rev1.stl](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_FPV/case/Top_ARK_FPV_Case_rev1.stl)       | Case top               |
| [Bottom\_ARK\_FPV\_Case\_rev1.stl](https://github.com/ARK-Electronics/ark-hardware/raw/main/ARK_FPV/case/Bottom_ARK_FPV_Case_rev1.stl) | Case bottom            |

All files: [ARK\_FPV in ark-hardware](https://github.com/ARK-Electronics/ark-hardware/tree/main/ARK_FPV)


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