diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt
index 5b6a2df910..796bec0cd6 100644
--- a/Tools/AP_Bootloader/board_types.txt
+++ b/Tools/AP_Bootloader/board_types.txt
@@ -43,6 +43,7 @@ TARGET_HW_ARK_CAN_GPS                  81
 TARGET_HW_ARK_CAN_RTK_GPS              82
 TARGET_HW_FF_RTK_CAN_GPS               85
 TARGET_HW_ATL_MANTIS_EDU               97
+TARGET_HW_ARK_FMU_V6X                  57
 
 
 Reserved  PX4 [BL] FMU v5X.x           51
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef-bl.dat
new file mode 100644
index 0000000000..4dc19548f3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef-bl.dat
@@ -0,0 +1,76 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the ARKV6X hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# board ID for firmware load
+APJ_BOARD_ID 57
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+FLASH_BOOTLOADER_LOAD_KB 128
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -Os
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART3
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# CS pins
+PI9 IMU1_CS CS
+PH5 ICM42688_CS CS
+PI4 BMI088_A_CS CS
+PI8 BMI088_G_CS CS
+PH15 BMM150_CS CS
+PG7  FRAM_CS CS
+PI10 EXT1_CS CS
+
+# telem1
+PE8 UART7_TX UART7
+PF6 UART7_RX UART7
+
+# telem2
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# armed indication
+PE6 nARMED OUTPUT HIGH
+
+# start peripheral power off
+PF12 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN OUTPUT HIGH
+
+# LEDs
+PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
+PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
+define HAL_LED_ON 0
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+# enable DFU by default
+ENABLE_DFU_BOOT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat
new file mode 100644
index 0000000000..8e97ea73aa
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARKV6X/hwdef.dat
@@ -0,0 +1,331 @@
+# hw definition file for processing by chibios_hwdef.py
+# for the ARKV6X hardware
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# crystal frequency
+OSCILLATOR_HZ 16000000
+
+# ChibiOS system timer
+STM32_ST_USE_TIMER 2
+
+# board ID for firmware load
+APJ_BOARD_ID 57
+
+# Enable all IMUs to be used and therefore three active EKF Lanes
+define HAL_EKF_IMU_MASK_DEFAULT 7
+
+FLASH_RESERVE_START_KB 128
+
+# to be compatible with the px4 bootloader we need
+# to use a different RAM_MAP
+env USE_ALT_RAM_MAP 1
+
+# flash size
+FLASH_SIZE_KB 2048
+
+env OPTIMIZE -O2
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7 UART5 USART1 UART8 USART2 UART4 USART3 OTG2
+
+# default the 2nd interface to MAVLink2
+define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2
+
+# default to all pins low to avoid ESD issues
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
+# USB
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9 VBUS INPUT OPENDRAIN
+
+# pins for SWD debugging
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# telem1
+PE8 UART7_TX UART7
+PF6 UART7_RX UART7
+PF8 UART7_RTS UART7
+PE10 UART7_CTS UART7
+
+# telem2
+PC8 UART5_RTS UART5
+PC9 UART5_CTS UART5
+PC12 UART5_TX UART5
+PD2 UART5_RX UART5
+
+# telem3
+PA3 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# GPS1
+PB6 USART1_TX USART1
+PB7 USART1_RX USART1
+
+# GPS2
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
+
+# uart4
+PH13 UART4_TX UART4
+PH14 UART4_RX UART4
+
+# debug uart
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+# USART6 is for IOMCU
+PC6 USART6_TX USART6
+PC7 USART6_RX USART6
+IOMCU_UART USART6
+
+# uart6, RX only, RC input, if no IOMCU
+# PC7 USART6_RX USART6
+
+# ethernet (not implemented yet)
+#PA1 ETH_REF_CLK
+#PA2 ETH_MDIO
+#PA7 ETH_CRS_DV
+#PB11 ETH_TX_EN
+#PC1 ETH_MDC
+#PC4 ETH_RXD0
+#PC5 ETH_RXD1
+#PG12 ETH_TXD1
+#PG13 ETH_TXD0
+#PG15 ETH_POWER_EN
+
+# ADC
+PA0 SCALED1_V3V3 ADC1 SCALE(2)
+PA4 SCALED2_V3V3 ADC1 SCALE(2)
+PB0 SCALED3_V3V3 ADC1 SCALE(2)
+PF12 SCALED4_V3V3 ADC1 SCALE(2)
+
+PB1 VDD_5V_SENS  ADC1 SCALE(2)
+
+# pin7 on AD&IO, analog 12
+PC2 ADC1_6V6 ADC1 SCALE(2)
+
+# pin6 on AD&IO, analog 13
+PC3 ADC1_3V3 ADC1 SCALE(1)
+
+# SPI1 - IIM42652
+PA5 SPI1_SCK SPI1
+PB5 SPI1_MOSI SPI1
+PG9 SPI1_MISO SPI1
+PI9 IMU1_CS CS
+PF2 IMU1_DRDY INPUT
+
+# SPI2 - ICM42688
+PI1 SPI2_SCK SPI2
+PI2 SPI2_MISO SPI2
+PI3 SPI2_MOSI SPI2
+PH5 IMU2_CS CS
+PA10 IMU2_DRDY INPUT
+
+# SPI3 - ICM42688
+PB2  SPI3_MOSI SPI3
+PC10 SPI3_SCK  SPI3
+PC11 SPI3_MISO SPI3
+PI4 IMU3_CS CS
+PI6 IMU3_DRDY INPUT
+
+# SPI5 - FRAM
+PF7  SPI5_SCK  SPI5
+PH7  SPI5_MISO SPI5
+PF11 SPI5_MOSI SPI5
+PG7  FRAM_CS CS
+
+# SPI6 - external1 (disabled to save DMA channels)
+# PB3  SPI6_SCK SPI6
+# PA6  SPI6_MISO SPI6
+# PG14 SPI6_MOSI SPI6
+# PI10   EXT1_CS CS
+
+# PWM output pins
+PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50)
+PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51)
+PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
+PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53)
+PD13 TIM4_CH2 TIM4 PWM(5) GPIO(54)
+PD14 TIM4_CH3 TIM4 PWM(6) GPIO(55)
+
+# we need to disable DMA on the last 2 FMU channels
+# as timer 12 doesn't have a TIMn_UP DMA option
+PH6  TIM12_CH1 TIM12 PWM(7) GPIO(56) NODMA
+PH9  TIM12_CH2 TIM12 PWM(8) GPIO(57) NODMA
+
+# GPIOs
+PE11 FMU_CAP1 INPUT GPIO(58)
+PC0 NFC_GPIO INPUT GPIO(60)
+
+
+# CAN bus
+PD0  CAN1_RX CAN1
+PD1  CAN1_TX CAN1
+
+PB12 CAN2_RX CAN2
+PB13 CAN2_TX CAN2
+
+
+# I2C buses
+
+# I2C1, GPS+MAG
+PB9 I2C1_SDA I2C1
+PB8 I2C1_SCL I2C1
+
+# I2C2, GPS2+MAG
+PF1 I2C2_SCL I2C2
+PF0 I2C2_SDA I2C2
+PG5 DRDY1_BMP388 INPUT
+
+# I2C3, MS5611, external
+PA8 I2C3_SCL I2C3
+PH8 I2C3_SDA I2C3
+
+# I2C4 internal
+PF14 I2C4_SCL I2C4
+PF15 I2C4_SDA I2C4
+
+# order of I2C buses
+I2C_ORDER I2C4 I2C1 I2C2 I2C3
+define HAL_I2C_INTERNAL_MASK 1
+
+# this board is very tight on DMA channels. To allow for more UART DMA
+# we disable DMA on I2C. This also prevents a problem with DMA on I2C
+# interfering with IMUs
+NODMA I2C*
+define STM32_I2C_USE_DMA FALSE
+
+# heater - No heater on Rev 1
+# PB10 HEATER_EN OUTPUT LOW GPIO(80)
+# define HAL_HEATER_GPIO_PIN 80
+
+# Setup the IMU heater
+# 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
+
+# armed indication
+PE6 nARMED OUTPUT HIGH
+
+# power enable pins
+PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
+PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
+PF4  VDD_3V3_SENSORS2_EN OUTPUT HIGH
+PE7  VDD_3V3_SENSORS3_EN OUTPUT HIGH
+PG8  VDD_3V3_SENSORS4_EN OUTPUT HIGH
+PG15 ETH_PWR_EN OUTPUT LOW # disable power on ethernet
+
+# start peripheral power off, then enable after init
+# this prevents a problem with radios that use RTS for
+# bootloader hold
+PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH
+PG4  nVDD_5V_PERIPH_EN  OUTPUT HIGH
+
+# Control of Spektrum power pin
+PH2 SPEKTRUM_PWR OUTPUT HIGH GPIO(73)
+define HAL_GPIO_SPEKTRUM_PWR 73
+
+# Spektrum Power is Active High
+define HAL_SPEKTRUM_PWR_ENABLED 1
+
+# power sensing
+PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
+PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
+
+PG1 VDD_BRICK_nVALID INPUT PULLUP
+PG2 VDD_BRICK2_nVALID INPUT PULLUP
+PG3 VDD_BRICK3_nVALID INPUT PULLUP
+
+# microSD support
+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
+
+# safety
+PD10 LED_SAFETY OUTPUT
+PF5 SAFETY_IN INPUT PULLDOWN
+
+# 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
+
+# setup for "pixracer" RGB LEDs
+define HAL_GPIO_A_LED_PIN 90
+define HAL_GPIO_B_LED_PIN 91
+define HAL_GPIO_C_LED_PIN 92
+define HAL_GPIO_LED_ON 0
+
+define HAL_HAVE_PIXRACER_LED
+
+# ID pins
+PG0 HW_VER_REV_DRIVE OUTPUT LOW
+# PH3 HW_VER_SENS ADC3 SCALE(1)
+# PH4 HW_REV_SENS ADC3 SCALE(1)
+
+# PWM output for buzzer
+PF9 TIM14_CH1 TIM14 GPIO(77) ALARM
+
+# RC input
+PI5 TIM8_CH1 TIM8 RCININT PULLDOWN LOW
+
+# barometers
+BARO BMP388 I2C:0:0x76
+
+# compass
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+# builtin compass
+COMPASS BMM150 I2C:0:0x10 false ROTATION_NONE
+
+# IMU devices for ARKV6X
+SPIDEV iim42652  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  8*MHZ
+SPIDEV icm42688  SPI2 DEVID1  IMU2_CS MODE3  2*MHZ  8*MHZ
+SPIDEV icm42688_ext  SPI3 DEVID1  IMU3_CS MODE3  2*MHZ  8*MHZ
+
+SPIDEV ramtron   SPI5 DEVID1  FRAM_CS     MODE3  8*MHZ  8*MHZ
+
+# ARKV6X 3 IMUs
+IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_180_YAW_135
+IMU Invensensev3 SPI:icm42688 ROTATION_YAW_45
+IMU Invensensev3 SPI:icm42688_ext ROTATION_ROLL_180_YAW_270
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 7
+
+# enable RAMTROM parameter storage
+define HAL_STORAGE_SIZE 32768
+define HAL_WITH_RAMTRON 1
+
+# INA226 battery monitor
+define HAL_BATTMON_INA2XX_BUS 1
+define HAL_BATTMON_INA2XX_ADDR 0x41
+define HAL_BATT_MONITOR_DEFAULT 21
+
+# allow to have have a dedicated safety switch pin
+define HAL_HAVE_SAFETY_SWITCH 1
+
+DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+
+# enable FAT filesystem support (needs a microSD defined via SDMMC)
+define HAL_OS_FATFS_IO 1
+
+define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
+
+# enable DFU reboot for installing bootloader
+# note that if firmware is build with --secure-bl then DFU is
+# disabled
+ENABLE_DFU_BOOT 1