ARK Pi6X Flow
::: warning
PX4 does not manufacture this (or any) autopilot.
Contact the manufacturer for hardware support or compliance issues.
:::
The ARK Pi6X Flow integrates a Raspberry Pi Compute Module 4 (CM4) Carrier, ARKV6X Flight Controller, ARK Flow sensors , ARK PAB Power Module, and a 4-in-1 ESC, all mounted onto one compact board.
::: info
This flight controller is manufacturer supported.
:::
Where to Buy
Order this module from:
Key Components
Raspberry Pi Compute Module 4 Carrier
- Autopilot Firmware: PX4
- Features:
- MicroSD slot (for CM4 Lite)
- Micro HDMI
- Ethernet
- USB C Host
- 2x USB JST GH
- 2x MIPI CSI (22-pin FFC)
- Programming micro USB
- I2C, UART
- LED Strip GPIO
- General Purpose GPIO
- Console
- CPU Fan
Autopilot
- Communication:
- TELEM (UART)
- RC Input (UART)
- GPS (UART, I2C)
- CAN
- Control and Monitoring:
- 8 PWM Outputs
- Buzzer
- Debug (SWD, UART Console)
- MicroSD slot for data storage
Sensors
- 2x ICM-42688-P Accelerometer/Gyroscope (includes Heater)
- PAW3902 Optical Flow Sensor
- AFBR-S50LV85D 30-Meter Distance Sensor
- ST IIS2MDC Magnetometer
- BMP390 Barometer
- INA226 Voltage/Current Monitor
USA-Built and NDAA Compliant
Power Requirements
- Battery Input: Up to 6s/25.2V (actual requirement depends on usage and peripherals)
Dimensions & Weight
- Dimensions: 91.5mm x 56mm (without Pi CM4 and ESC)
- Weight:
- 41g (without Pi CM4, Pi SD, and ESC)
- 53g (bundle with Pi CM4 and Pi SD, without ESC)
Additional Information
- Included: Flight Controller MicroSD
- Bundle Option Includes:
- Raspberry Pi Compute Module 4 with WiFi, 4GB RAM Lite – CM4104000
- SanDisk 128GB High Endurance Video MicroSDXC with ARK-OS Pre-Installed
Flashing Guide
ARK Pi6X Flashing Guide
Pinout
PWM UART4 - 11 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
FMU_CH1_EXT |
3.3V |
| 2 |
FMU_CH2_EXT |
3.3V |
| 3 |
FMU_CH3_EXT |
3.3V |
| 4 |
FMU_CH4_EXT |
3.3V |
| 5 |
FMU_CH5_EXT |
3.3V |
| 6 |
FMU_CH6_EXT |
3.3V |
| 7 |
FMU_CH7_EXT |
3.3V |
| 8 |
FMU_CH8_EXT |
3.3V |
| 9 |
UART4_TX_EXT |
3.3V |
| 10 |
UART4_RX_EXT |
3.3V |
| 11 |
GND |
GND |
RC - 4 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
VDD_5V_SBUS_RC |
5.0V |
| 2 |
USART6_RX_IN_EXT |
3.3V |
| 3 |
USART6_TX_OUTPUT_EXT |
3.3V |
| 4 |
GND |
GND |
CAN - 4 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
VDD_5V_HIPOWER |
5.0V |
| 2 |
CAN1_P |
5.0V |
| 3 |
CAN1_N |
5.0V |
| 4 |
GND |
GND |
GPS - 6 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
VDD_5V_HIPOWER |
5.0V |
| 2 |
USART1_TX_GPS1_EXT |
3.3V |
| 3 |
USART1_RX_GPS1_EXT |
3.3V |
| 4 |
I2C1_SCL_GPS1_EXT |
3.3V |
| 5 |
I2C1_SDA_GPS1_EXT |
3.3V |
| 6 |
GND |
GND |
Telem1 - 6 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
VDD_5V_HIPOWER |
5.0V |
| 2 |
UART7_TX_TELEM1_EXT |
3.3V |
| 3 |
UART7_RX_TELEM1_EXT |
3.3V |
| 4 |
UART7_CTS_TELEM1_EXT |
3.3V |
| 5 |
UART7_RTS_TELEM1_EXT |
3.3V |
| 6 |
GND |
GND |
Flight Controller Debug - 10 Pin JST-SH
| Pin Number |
Signal Name |
Voltage |
| 1 |
3V3_FMU |
3.3V |
| 2 |
USART4_TX_DEBUG |
3.3V |
| 3 |
USART4_RX_DEBUG |
3.3V |
| 4 |
FMU_SWDIO |
3.3V |
| 5 |
FMU_SWCLK |
3.3V |
| 6 |
SPI6_SCK_EXTERNAL1 |
3.3V |
| 7 |
NFC_GPIO |
3.3V |
| 8 |
PD15 |
3.3V |
| 9 |
FMU_NRST |
3.3V |
| 10 |
GND |
GND |
Pi I2C1 - 4 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
5.0V |
5.0V |
| 2 |
I2C1_SCL_EXT |
3.3V |
| 3 |
I2C1_SDA_EXT |
3.3V |
| 4 |
GND |
GND |
Pi UART3 - 6 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
5.0V |
5.0V |
| 2 |
UART3_TX_EXT |
3.3V |
| 3 |
UART3_RX_EXT |
3.3V |
| 4 |
UART3_CTS_EXT |
3.3V |
| 5 |
UART3_RTS_EXT |
3.3V |
| 6 |
GND |
GND |
Pi ETH - 4 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
ETH_RD_N |
3.3V |
| 2 |
ETH_RD_P |
3.3V |
| 3 |
ETH_TD_N |
3.3V |
| 4 |
ETH_TD_P |
3.3V |
Pi LED Strip - 8 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
5.0V |
5.0V |
| 2 |
5.0V |
5.0V |
| 3 |
GPIO12_EXT |
3.3V |
| 4 |
GPIO16_EXT |
3.3V |
| 5 |
GPIO17_EXT |
3.3V |
| 6 |
GPIO20_EXT |
3.3V |
| 7 |
GND |
GND |
| 8 |
GND |
GND |
Pi GPIO - 6 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
5.0V |
5.0V |
| 2 |
GPIO21_EXT |
3.3V |
| 3 |
GPIO22_EXT |
3.3V |
| 4 |
GPIO23_EXT |
3.3V |
| 5 |
GPIO24_EXT |
3.3V |
| 6 |
GND |
GND |
Pi Fan - 4 Pin JST-GH
| Pin Number |
Signal Name |
Voltage |
| 1 |
GND |
GND |
| 2 |
5.0V |
5.0V |
| 3 |
FAN_TACH_CON |
5.0V |
| 4 |
FAN_PWM_Q* |
5.0V |
Pi Console - 6 Pin JST-SH
| Pin Number |
Signal Name |
Voltage |
| 1 |
3.3V_RPI |
3.3V |
| 2 |
CONSOLE_TXD0 |
3.3V |
| 3 |
CONSOLE_RXD0 |
3.3V |
| 4 |
NC |
NC |
| 5 |
NC |
NC |
| 6 |
GND |
GND |
Pi USB - 4 Pin JST-GH (VBUS2_FLT)
| Pin Number |
Signal Name |
Voltage |
| 1 |
VBUS2_FLT |
5.0V |
| 2 |
USB2_EXT_N |
3.3V |
| 3 |
USB2_EXT_P |
3.3V |
| 4 |
GND |
GND |
Pi USB - 4 Pin JST-GH (VBUS4_FLT)
| Pin Number |
Signal Name |
Voltage |
| 1 |
VBUS4_FLT |
5.0V |
| 2 |
USB4_EXT_N |
3.3V |
| 3 |
USB4_EXT_P |
3.3V |
| 4 |
GND |
GND |
CAM0 - 22 Pin
0.5mm FFC 0545482271
| Pin Number |
Signal Name |
Voltage |
| 1 |
GND |
GND |
| 2 |
CAM0_D0_N |
1.2V |
| 3 |
CAM0_D0_P |
1.2V |
| 4 |
GND |
GND |
| 5 |
CAM0_D1_N |
1.2V |
| 6 |
CAM0_D1_P |
1.2V |
| 7 |
GND |
GND |
| 8 |
CAM0_C_N |
1.2V |
| 9 |
CAM0_C_P |
1.2V |
| 10 |
GND |
GND |
| 11 |
NC |
NC |
| 12 |
NC |
NC |
| 13 |
GND |
GND |
| 14 |
NC |
NC |
| 15 |
NC |
NC |
| 16 |
GND |
GND |
| 17 |
CAM_GPIO |
3.3V |
| 18 |
NC |
NC |
| 19 |
GND |
GND |
| 20 |
ID_SC |
3.3V |
| 21 |
ID_SD |
3.3V |
| 22 |
3.3V_RPI |
3.3V |
CAM1 - 22 Pin 0.5mm FFC 0545482271
| Pin Number |
Signal Name |
Voltage |
| 1 |
GND |
GND |
| 2 |
CAM1_D0_N |
1.2V |
| 3 |
CAM1_D0_P |
1.2V |
| 4 |
GND |
GND |
| 5 |
CAM1_D1_N |
1.2V |
| 6 |
CAM1_D1_P |
1.2V |
| 7 |
GND |
GND |
| 8 |
CAM1_C_N |
1.2V |
| 9 |
CAM1_C_P |
1.2V |
| 10 |
GND |
GND |
| 11 |
CAM1_D2_N |
1.2V |
| 12 |
CAM1_D2_P |
1.2V |
| 13 |
GND |
GND |
| 14 |
CAM1_D3_N |
1.2V |
| 15 |
CAM1_D3_P |
1.2V |
| 16 |
GND |
GND |
| 17 |
CAM_GPIO |
3.3V |
| 18 |
NC |
NC |
| 19 |
GND |
GND |
| 20 |
SCL0 |
3.3V |
| 21 |
SDA0 |
3.3V |
| 22 |
3.3V_RPI |
3.3V |
See Also
