# ARK Electronics ARKV6S

::: 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 [ARKV6S](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6s) flight controller is a low-cost, single-IMU variant of the [ARKV6X](../flight_controller/ark_v6x.md), based on the [FMUV6X and Pixhawk Autopilot Bus open source standards](https://github.com/pixhawk/Pixhawk-Standards).

The Pixhawk Autopilot Bus (PAB) form factor enables the ARKV6S to be used on any [PAB-compatible carrier board](../flight_controller/pixhawk_autopilot_bus.md), such as the [ARK Pixhawk Autopilot Bus Carrier](../flight_controller/ark_pab.md).

![ARKV6S Main Photo](../../assets/flight_controller/arkv6s/ark_v6s_front.jpg)

::: info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::

## Where To Buy {#store}

Order From [Ark Electronics](https://arkelectron.com/product/arkv6s/) (US)

## Sensors

- [Invensense IIM-42653 Industrial IMU](https://invensense.tdk.com/products/smartindustrial/iim-42653/)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)

## Microprocessor

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

## 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 ARKV6S 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          |

::: info
The mapping above applies to the running PX4 firmware.
The ARKV6S bootloader enables only `UART7` (TELEM1), so when flashing firmware over UART with [`px4_uploader.py`](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4_uploader.py) you must connect to the `TELEM1` port — no other UART will respond in bootloader mode.
:::

## Building Firmware

```sh
make ark_fmu-v6s_default
```

## See Also

- [ARK Electronics ARKV6S](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/arkv6s) (ARK Docs)