# ARK Electronics ARKV6X

:::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://arkelectron.com/contact-us/) for hardware support or compliance issues. :::

The USA-built ARKV6X flight controller is based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).

With triple synced IMUs, data averaging, voting, and filtering is possible. The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6X to be used on any [PAB-compatible carrier board](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/pixhawk_autopilot_bus), such as the [ARK Pixhawk Autopilot Bus Carrier](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/pixhawk_autopilot_bus/arkpab).

![ARKV6X Main Photo](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-dff8aff06eeadb3955dd67ad520051efc8c5ce50%2Fark_v6x_front.jpg?alt=media)

:::note This flight controller is [manufacturer supported](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_manufacturer_supported). :::

## Where To Buy

Order From [Ark Electronics](https://arkelectron.com/product/arkv6x/) (US)

## Sensors

* [Dual Invensense ICM-42688-P IMUs](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
* [Invensense IIM-42652 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42652/)
* [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html)
* [Bosch BMM150 Magnetometer](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers-bmm150/)

## Microprocessor

* [STM32H743IIK6 MCU](https://www.st.com/en/microcontrollers-microprocessors/stm32h743ii.html)
  * 480MHz
  * 2MB Flash
  * 1MB Flash

## Other Features

* FRAM
* [Pixhawk Autopilot Bus (PAB) Form Factor](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)
* LED Indicators
* MicroSD Slot
* USA Built
* Designed with a 1W heater. Keeps sensors warm in extreme conditions

## Power Requirements

* 5V
* 500mA
  * 300ma for main system
  * 200ma for heater

## Additional Information

* Weight: 5.0 g
* Dimensions: 3.6 x 2.9 x 0.5 cm

## Pinout

For pinout of the ARKV6X see the [DS-10 Pixhawk Autopilot Bus Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-010%20Pixhawk%20Autopilot%20Bus%20Standard.pdf)

## Serial Port Mapping

| UART   | Device     | Port          |
| ------ | ---------- | ------------- |
| USART1 | /dev/ttyS0 | GPS           |
| USART2 | /dev/ttyS1 | TELEM3        |
| USART3 | /dev/ttyS2 | Debug Console |
| UART4  | /dev/ttyS3 | UART4 & I2C   |
| UART5  | /dev/ttyS4 | TELEM2        |
| USART6 | /dev/ttyS5 | PX4IO/RC      |
| UART7  | /dev/ttyS6 | TELEM1        |
| UART8  | /dev/ttyS7 | GPS2          |

## Building Firmware

```
make ark_fmu-v6x_default
```


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