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Ardupilot Instructions

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Firmware Setup

The IIS2MDC magnetometer driver was added in January 2025 and requires Ardupilot version 4.6 or newer.

Use the Ardupilot Custom Firmware Builderarrow-up-right to compile firmware for your autopilot with the IIS2MDC driver. Select IIS2MDC Compasses under Compass for your board.

This PR can be backported into previous releases of Ardupilot.

https://github.com/ArduPilot/ardupilot/pull/28602arrow-up-right

Configure SERIALX arrow-up-rightto GPS on the port the GPS is connected to. On the ARK FPV GPS port, this is set by default and is plug and play.

Ensure COMPASS_EXTERNAL arrow-up-rightis set to 1 to auto detect the magnetometer on I2C.

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