# ArduPilot Instructions

{% embed url="<https://ardupilot.org/copter/docs/common-ark-v6x-overview.html>" %}
ARKV6X ArduPilot Documentation
{% endembed %}

### Flashing Firmware

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

### Building Firmware

```
./waf configure --board ARKV6X
./waf copter
```

and optionally upload

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

### Serial Port Mapping

{% hint style="info" %}
Serial Port Mapping for Default Firmware with No IOMCU
{% endhint %}

| **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

When using the ARKV6X on a carrier board with an IOMCU, the following modifications to the hwdef need to be made.

Swap the SERIAL\_ORDER line comments to remove USART6 from the available serial ports.

<https://github.com/ArduPilot/ardupilot/blob/Copter-4.6.0/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat#L30-L34>

Uncomment the IOMCU\_UART line to use USART6 for the IOMCU.\
\
<https://github.com/ArduPilot/ardupilot/blob/Copter-4.6.0/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat#L91>\
\
Build and flash the firmware using the steps above.


---

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