Firmware

The flight controller runs PX4 1.15 or later, or ArduPilot 4.7 or later. The AFBR-S50LV85D distance sensor on the Pi6X Flow is not supported in ArduPilot.

Firmware	Build target
PX4	ark_pi6x_default (boards/ark/pi6x)
ArduPilot	ARK_PI6X (hwdef)

The flight controller's USB connects only to the Pi, so firmware is updated from the Pi.

From the Web UI

Open the ARK-UI Autopilot page, select the Firmware tab, and upload a .px4 (PX4) or .apj (ArduPilot) firmware file.

From the Command Line

SSH into the Pi and run the ARK-OS flashing tool (on PATH). The update is performed over the USB connection:

flash_firmware.sh <firmware.px4>

Downloads

• PX4: ark_pi6x_default.px4 from the PX4 releases page

• ArduPilot: firmware.ardupilot.org, board ARK_PI6X

Bootloader Recovery

If the flight controller does not enumerate over USB, recover the bootloader over SWD on the flight controller debug port: ST-LINK Flashing Guide.