diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md
new file mode 100644
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+# ARK FPV Flight Controller
+
+https://arkelectron.com/product/ark-fpv-flight-controller/
+
+
+## Features
+#### Processor
+- STM32H743 32-bit processor
+- 480MHz
+- 2MB Flash
+- 1MB RAM
+#### Sensors
+- Invensense IIM-42653 Industrial IMU with heater resistor
+- Bosch BMP390 Barometer
+- ST IIS2MDC Magnetometer
+#### Power
+- 5.5V - 54V (2S - 12S) input
+- 12V, 2A output
+- 5V, 2A output. 300ma for main system, 200ma for heater
+#### Interfaces
+- **Micro SD**
+- **USB-C**
+  - VBUS In, USB
+- **PWM**
+  - VBAT In, Analog Current Input, Telem RX, 4x PWM and Bidirectional-DSHOT capable
+  - JST-GH 8 Pin
+- **PWM AUX**
+  - 5x PWM and Bidirectional-DSHOT capable
+  - JST-SH 6 Pin
+- **RC Input**
+  - 5V Out, UART
+  - JST-GH 4 Pin
+- **POWER AUX**
+  - 12V Out, VBAT In/Out
+  - JST-GH 3 Pin
+- **TELEM**
+  - 5V Out, UART with flow control
+  - JST-GH 6 Pin
+- **GPS**
+  - 5V Out, UART, I2C
+  - JST-GH 6 Pin
+- **CAN**
+  - 5V Out, CAN
+  - JST-GH 4 Pin
+- **VTX**
+  - 12V Out, UART TX/RX, UART RX
+  - JST-GH 6 Pin
+- **SPI** (OSD or External IMU)
+  - 5V Out, SPI
+  - JST-SH 8 Pin
+- **DEBUG**
+  - 3.3V Out, UART, SWD
+  - JST-SH 6 Pin
+
+##### Dimensions
+- Size: 3.6 × 3.6 × 0.8 cm
+- Weight: 7.5g with MicroSD card
+
+## Pinout
+![top](ark_fpv_top.png)
+![bottom](ark_fpv_bottom.png)
+
+#### PWM UART4 - 8 Pin JST-GH
+| Pin | Signal Name     | Voltage      |
+|-----|-----------------|--------------|
+| 1   | VBAT IN         | 5.5V-54V     |
+| 2   | CURR_IN_EXT     | 3.3V         |
+| 3   | UART4_RX_EXT    | 3.3V         |
+| 4   | FMU_CH1_EXT     | 3.3V         |
+| 5   | FMU_CH2_EXT     | 3.3V         |
+| 6   | FMU_CH3_EXT     | 3.3V         |
+| 7   | FMU_CH4_EXT     | 3.3V         |
+| 8   | GND             | GND          |
+
+#### RC - 4 Pin JST-GH
+| Pin | Signal Name         | Voltage |
+|-----|---------------------|---------|
+| 1   | 5.0V               | 5.0V    |
+| 2   | USART6_RX_IN_EXT    | 3.3V    |
+| 3   | USART6_TX_OUTPUT_EXT| 3.3V    |
+| 4   | GND                | GND     |
+
+#### PWM AUX - 6 Pin JST-SH
+| Pin | Signal Name     | Voltage |
+|-----|-----------------|---------|
+| 1   | FMU_CH5_EXT     | 3.3V    |
+| 2   | FMU_CH6_EXT     | 3.3V    |
+| 3   | FMU_CH7_EXT     | 3.3V    |
+| 4   | FMU_CH8_EXT     | 3.3V    |
+| 5   | FMU_CH9_EXT     | 3.3V    |
+| 6   | GND             | GND     |
+
+#### POWER AUX - 3 Pin JST-GH
+| Pin | Signal Name | Voltage      |
+|-----|-------------|--------------|
+| 1   | 12.0V       | 12.0V        |
+| 2   | GND         | GND          |
+| 3   | VBAT IN/OUT | 5.5V-54V     |
+
+#### CAN - 4 Pin JST-GH
+| Pin | Signal Name | Voltage |
+|-----|-------------|---------|
+| 1   | 5.0V        | 5.0V    |
+| 2   | CAN1_P      | 5.0V    |
+| 3   | CAN1_N      | 5.0V    |
+| 4   | GND         | GND     |
+
+#### GPS - 6 Pin JST-GH
+| Pin | Signal Name         | Voltage |
+|-----|---------------------|---------|
+| 1   | 5.0V                | 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     |
+
+#### TELEM - 6 Pin JST-GH
+| Pin | Signal Name           | Voltage |
+|-----|-----------------------|---------|
+| 1   | 5.0V                 | 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     |
+
+#### VTX - 6 Pin JST-GH
+Note: connector pinout not in same order as standard HD VTX cabling
+| Pin | Signal Name           | Voltage |
+|-----|-----------------------|---------|
+| 1   | 12.0V                | 12.0V   |
+| 2   | GND                  | GND     |
+| 3   | UART5_TX_TELEM2_EXT  | 3.3V    |
+| 4   | UART5_RX_TELEM2_EXT  | 3.3V    |
+| 5   | USART2_RX_TELEM3_EXT | 3.3V    |
+| 6   | GND                  | GND     |
+
+#### SPI (OSD or IMU) - 8 Pin JST-SH
+| Pin | Signal Name         | Voltage |
+|-----|---------------------|---------|
+| 1   | 5.0V                | 5.0V    |
+| 2   | SPI6_SCK_EXT        | 3.3V    |
+| 3   | SPI6_MISO_EXT       | 3.3V    |
+| 4   | SPI6_MOSI_EXT       | 3.3V    |
+| 5   | SPI6_nCS1_EXT       | 3.3V    |
+| 6   | SPI6_DRDY1_EXT      | 3.3V    |
+| 7   | SPI6_nRESET_EXT     | 3.3V    |
+| 8   | GND                 | GND     |
+
+#### Flight Controller Debug - 6 Pin JST-SH
+| Pin | 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   | GND            | GND     |
+
+
+## UART Mapping
+
+|Name|Function|
+|:-|:-|
+|SERIAL0|USB|
+|SERIAL1|UART7 (Telem)|
+|SERIAL2|UART5 (DisplayPort HD VTX)|
+|SERIAL3|USART1 (GPS1)|
+|SERIAL4|USART2 (User, SBUS pin on HD VTX, RX only)|
+|SERIAL5|UART4 (ESC Telem, RX only)|
+|SERIAL6|USART6 (RC Input)|
+|SERIAL7|OTG2 (SLCAN)|
+
+All UARTS support DMA. Any UART may be re-tasked by changing its protocol parameter.
+
+## RC Input
+
+RC input is configured on the RX6 (UART6_RX) pin. It supports all RC protocols except PPM. See :ref:`Radio Control Systems <common-rc-systems>` for details for a specific RC system. :ref:`SERIAL6_PROTOCOL<SERIAL6_PROTOCOL>` is set to “23”, by default, to enable this.
+
+- SBUS/DSM/SRXL connects to the RX6 pin.
+- FPort requires connection to TX6 and :ref:`SERIAL6_OPTIONS<SERIAL2_OPTIONS>` be set to “7”.
+- CRSF also requires a TX6 connection, in addition to RX6, and automatically provides telemetry. Set :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>`
+- SRXL2 requires a connecton to TX6 and automatically provides telemetry. Set :ref:`SERIAL6_OPTIONS<SERIAL6_OPTIONS>` to “4”. =3.
+
+## Battery Monitoring
+
+The board has a internal voltage sensor and connections on the ESC connector for an external current sensor input. The board supports up to 12S LiPo batteries.
+
+The default battery parameters are:
+
+- BATT_MONITOR 4
+- BATT_VOLT_PIN 9
+- BATT_CURR_PIN 12
+- BATT_VOLT_SCALE 21
+- BATT_CURR_SCALE 120
+
+## Compass
+This autopilot has a built-in compass. The compass is the IIS2MDC
+
+## OSD Support
+
+This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH.
+
+## Motor Output
+
+All outputs are capable of PWM and DShot. Motors 1-4 are capable of Bidirectional-DSHOT. All outputs in the motor groups below must be either PWM or DShot:
+- Motors 1-4  Group1 (TIM5)
+- Motors 5-8  Group2 (TIM8)
+- Motor 9     Group3 (TIM4)
+
+## Loading Firmware
+
+Initial firmware load can be done with DFU by plugging in USB with the
+BOOT button pressed. You can then load the bootloader using your favorite DFU tool.
+The bootloader can be found at https://firmware.ardupilot.org/Tools/Bootloaders/
+
+Once the initial firmware is loaded you can update the firmware using
+any ArduPilot ground station software. Updates should be done with the
+*.apj firmware files*.
+
+Alternatively you can build the firmware from source
+```
+./waf configure --board ARK_FPV --bootloader
+./waf bootloader
+```
+And flash the bootloader with your st-link to 0x08000000.
+Then build the firmware and upload it via USB-C
+```
+./waf configure --board ARK_FPV
+./waf copter --upload
+```
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/ark_fpv_bottom.png b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/ark_fpv_bottom.png
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/common.inc b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/common.inc
new file mode 100644
index 0000000000..46037001f8
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+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/common.inc
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+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# board ID for firmware load
+APJ_BOARD_ID 59
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# 480Hz is only value support on H7
+# MCU_CLOCKRATE_MHZ 320
+
+# flash size
+FLASH_SIZE_KB 2048
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# SWD
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# SD card
+PD6  SDMMC2_CK SDMMC2
+PD7  SDMMC2_CMD SDMMC2
+PB14 SDMMC2_D0 SDMMC2
+PB15 SDMMC2_D1 SDMMC2
+PG11 SDMMC2_D2 SDMMC2
+PB4  SDMMC2_D3 SDMMC2
+define FATFS_HAL_DEVICE SDCD2
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm
new file mode 100644
index 0000000000..242eef6ef5
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm
@@ -0,0 +1,5 @@
+# CAN
+CAN_P1_DRIVER 1  # Enables the use of CAN
+
+# Onboard OSD
+OSD_TYPE 5 # MSP
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
new file mode 100644
index 0000000000..c1e876006c
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
@@ -0,0 +1,32 @@
+# Processed by chibios_hwdef.py
+
+include common.inc
+
+# Bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# Location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+SERIAL_ORDER OTG1 UART7 USART1 USART3
+
+PI9  IMU1_CS CS # SPI1 CS - IIM42653
+PI10 EXT1_CS CS # SPI6 CS - external
+
+# Telem1 - Telem
+PE8  UART7_TX  UART7
+PF6  UART7_RX  UART7
+PF8  UART7_RTS UART7
+PE10 UART7_CTS UART7
+
+# GPS
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# Armed indication
+PE6 nARMED OUTPUT HIGH
+
+# LEDs
+PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
new file mode 100644
index 0000000000..225ebc9f09
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
@@ -0,0 +1,201 @@
+# Processed by chibios_hwdef.py
+
+include common.inc
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# Bootloader takes first sector
+FLASH_RESERVE_START_KB 128
+
+# Use last 2 pages for flash storage
+# H743 has 16 pages of 128k each
+define HAL_STORAGE_SIZE 32768
+STORAGE_FLASH_PAGE 14
+
+# To be compatible with the px4 bootloader we need
+# to use a different RAM_MAP
+env USE_ALT_RAM_MAP 1
+
+SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2
+
+# Debug console
+STDOUT_SERIAL SD3
+STDOUT_BAUDRATE 57600
+
+# Default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# Telem
+PE8  UART7_TX  UART7
+PF6  UART7_RX  UART7
+PF8  UART7_RTS UART7
+PE10 UART7_CTS UART7
+
+# VTX (DJI Air Unit)
+PC12 UART5_TX UART5
+PD2  UART5_RX UART5
+define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# GPS
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# VTX (DJI Air Unit, RX only)
+PA3 USART2_RX USART2
+PD5 USART2_TX USART2 NODMA
+# TODO: DJI HDL?
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
+
+# ESC Telem (RX only)
+PH13 UART4_TX UART4 NODMA
+PH14 UART4_RX UART4
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
+define DEFAULT_SERIAL5_BAUD 115
+define HAL_SERIAL_ESC_COMM_ENABLED 1
+define HAL_WITH_ESC_TELEM 1
+
+# RC Input
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+
+# ADCs
+PA0 SCALED1_V3V3 ADC1 SCALE(2)
+PB1 VDD_5V_SENS ADC1 SCALE(2)
+# 12V monitor
+PA4 FMU_SERVORAIL_VCC_SENS ADC1 SCALE(7.66)
+
+PB0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
+PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
+
+# Analog battery input scaling
+# See STM32H743xx.py
+define HAL_BATT_VOLT_PIN 9
+define HAL_BATT_CURR_PIN 12
+define HAL_BATT_VOLT_SCALE 21
+define HAL_BATT_CURR_SCALE 120
+define HAL_BATT_MONITOR_DEFAULT 4
+
+# SPI1 - IIM42653 IMU
+PA5 SPI1_SCK SPI1
+PB5 SPI1_MOSI SPI1
+PG9 SPI1_MISO SPI1
+PI9 IMU1_CS CS
+PF2 IMU1_DRDY INPUT
+
+# SPI6 - external (SPI OSD or IMU)
+PB3  SPI6_SCK SPI6
+PA6  SPI6_MISO SPI6
+PG14 SPI6_MOSI SPI6
+PI10 EXT1_CS CS
+PD11 DRDY_ADIS16507 INPUT GPIO(93)
+
+# GPIO(93) for data ready on ADIS16507
+# define ADIS_DRDY_PIN 93
+
+# Motors, see STM32H743xx.py
+PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR
+PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) BIDIR
+PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR
+PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) BIDIR
+PI5  TIM8_CH1 TIM8 PWM(5) GPIO(54)
+PI6  TIM8_CH2 TIM8 PWM(6) GPIO(55)
+PI7  TIM8_CH3 TIM8 PWM(7) GPIO(56)
+PI2  TIM8_CH4 TIM8 PWM(8) GPIO(57)
+PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
+
+# PWM output for buzzer
+PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
+
+# CAN bus
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
+
+# I2C1 (GPS1 compass, external)
+PB9 I2C1_SDA I2C1
+PB8 I2C1_SCL I2C1
+
+# I2C2 (BMP390 baro, internal)
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+
+# I2C4 (IIS2MDC compass, internal)
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C1 I2C2 I2C4
+define HAL_I2C_INTERNAL_MASK 6
+
+# IMU heater
+PB10 HEATER_EN OUTPUT LOW GPIO(80)
+define HAL_HEATER_GPIO_PIN 80
+define HAL_HAVE_IMU_HEATER 1
+define HAL_IMU_TEMP_DEFAULT 45
+define HAL_IMUHEAT_P_DEFAULT 50
+define HAL_IMUHEAT_I_DEFAULT 0.07
+# TODO: should we use this?
+# define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
+
+# Armed indication
+PE6 nARMED OUTPUT HIGH
+
+# Power enable pins
+PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
+
+# 12V enable, start with it ON
+PG4 VDD_5V_PERIPH_EN OUTPUT HIGH
+
+# Power sensing
+# 12V PGOOD
+PE15 VDD_5V_PERIPH_nOC INPUT FLOATING
+# 5V PGOOD
+PF13 VDD_5V_HIPOWER_nOC INPUT FLOATING
+# 5V_ON_BATn
+PG1 VDD_BRICK_nVALID INPUT FLOATING
+
+# LEDs
+PE3 LED_RED OUTPUT OPENDRAIN GPIO(90) HIGH
+PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(91) HIGH
+PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(92) HIGH
+define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90
+define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91
+define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92
+define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1
+
+# ID pins
+PG0 HW_VER_REV_DRIVE OUTPUT LOW
+PH4 HW_REV_SENS ADC3 SCALE(1)
+
+# Barometer on i2c_2
+BARO BMP388 I2C:1:0x76
+
+# Compass
+COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define AP_COMPASS_IIS2MDC_ENABLED 1
+
+# IIM42653 IMU on SPI1
+SPIDEV iim42653  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  8*MHZ
+IMU Invensensev3 SPI:iim42653 ROTATION_YAW_270
+
+# SPI6 external bus
+# SPIDEV adis16507 SPI6 DEVID1  EXT1_CS MODE3  1*MHZ  2*MHZ
+# IMU ADIS1647x    SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+
+# Prioritze SD logging and IMU
+DMA_PRIORITY SDMMC* SPI*
+
+# Bidir DShot timers cannot share DMA
+DMA_NOSHARE SPI* TIM5* TIM8*
+
+# Enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+# Setup for OSD
+define OSD_ENABLED 1
+define HAL_OSD_TYPE_DEFAULT 5 # MSP Displayport