ARK Pi6X Flow

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.

Where to Buy

Order this module from:

• ARK Electronics (US)

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

• ARK Pi6X Flow Documentation (ARK Docs)