> 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/jetson-pabs/ark-jetson-pab-carrier-v3/using-ark-os/updating-the-flight-controller-firmware.md).
# Updating the Flight Controller Firmware
The ARKV6X Flight Controller can be flashed with PX4 or ArduPilot.
## From the Web UI
Open the [ARK-UI](http://jetson.local) **Autopilot** page, select the **Firmware** tab, and upload a `.px4` or `.apj` firmware file.
## From the Command Line
SSH into the Jetson and run the ARK-OS flashing tool (on `PATH`):
```bash
flash_firmware.sh
```
Run without an argument to flash the PX4 image bundled with ARK-OS.
## Firmware Binaries
* **PX4**: `ark_fmu-v6x` builds from the [PX4 releases page](https://github.com/PX4/PX4-Autopilot/releases/)
* **ArduPilot**: `ARK_FMU_V6X` builds from [firmware.ardupilot.org](https://firmware.ardupilot.org/)
If the flight controller does not enumerate over USB, recover the bootloader over SWD: [ST-LINK Flashing Guide](/knowledge-base/knowledge-base/st-link-flashing-guide.md#flashing-px4-flight-controllers).
---
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