ArduPilot Instructions

https://ardupilot.org/copter/docs/common-ark-v6s-overview.htmlardupilot.org

ARKV6S ArduPilot Documentation

To build or flash ArduPilot, see Firmware.

Serial Port Mapping

Serial Port Mapping for Default Firmware with No IOMCU

UART	Serial Number	Port
UART7	SERIAL1	TELEM1
UART5	SERIAL2	TELEM2
USART1	SERIAL3	GPS
UART8	SERIAL4	GPS2
USART2	SERIAL5	TELEM3
UART4	SERIAL6	UART4 & I2C
USART3	SERIAL7	Debug Console
USART6	SERIAL8	PX4IO/RC

hwdef modifications for use with an IOMCU

The default build is for a carrier without an IOMCU, such as the ARK PAB Carrier, where USART6 is the RC input. For a carrier with an IOMCU on USART6, edit the ARKV6S hwdef and build it:

1. Comment out the first SERIAL_ORDER line (L30).

2. Comment out define DEFAULT_SERIAL8_PROTOCOL SerialProtocol_RCIN (L85). With USART6 removed, SERIAL8 is the second USB port.

3. Uncomment the SERIAL_ORDER, IOMCU_UART and ROMFS io_firmware.bin lines (L94-L96). The build fails without the IO firmware.

Keep the PC6 and PC7 USART6 pin lines, although the hwdef comment says to remove them; the IOMCU uses them.

Build and flash the firmware using the steps in Firmware.