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
index 0000000000000..46a30e8d77700
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md
@@ -0,0 +1,87 @@
+# 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 EXTRA**
+  - 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
+TODO
+
+## UART Mapping
+
+|Name|Function|
+|:-|:-|
+|SERIAL0|USB|
+|SERIAL1|UART7 (Telem)|
+|SERIAL2|UART5 (VTX - DJI Air Unit, RX/TXT)|
+|SERIAL3|USART1 (GPS1)|
+|SERIAL4|USART2 (VTX - DJI Air Unit, RX only)|
+|SERIAL5|UART4 (ESC Telem, RX only)|
+|SERIAL6|USART6 (RC Input)|
+|SERIAL7|OTG2 (SLCAN)|
+
+All UARTS support DMA.
+
+## OSD Support
+
+This flight controller has an MSP-DisplayPort output on a 6-pin DJI-compatible JST SH.
+
+## Motor Output
+
+Motors 1-8 are capable of Bidirectional-DSHOT and PWM.
+
+All outputs in the motor groups below must be either PWM or DShot:
+Motors 1-4  Group1 (TIM5)
+Motors 5-8  Group2 (TIM8)
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 0000000000000..700a76bf47f3a
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/common.inc
@@ -0,0 +1,32 @@
+# 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
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
index e7f8ce5f0d530..bdde76cb59ad3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
@@ -1,14 +1,6 @@
-# hw definition file for processing by chibios_hwdef.py
-# for the ARKV6X hardware
+# processed by chibios_hwdef.py
 
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-# crystal frequency
-OSCILLATOR_HZ 16000000
-
-# board ID for firmware load
-APJ_BOARD_ID 59
+include common.inc
 
 # bootloader is installed at zero offset
 FLASH_RESERVE_START_KB 0
@@ -16,46 +8,26 @@ 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
 
-# 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
-
-# ICM20602
+# SPI1 - IIM42653
 PI9 IMU1_CS CS
-# BMMI088 Accel
-PI4 BMI088_A_CS CS
-# BMMI088 Gyro
-PI8 BMI088_G_CS CS
-# Unused
-# PG7  FRAM_CS CS
+# SPI6 - external
 PI10 EXT1_CS CS
 
 # telem1
-PE8 UART7_TX UART7
-PF6 UART7_RX UART7
+PE8  UART7_TX  UART7
+PF6  UART7_RX  UART7
+PF8  UART7_RTS UART7
+PE10 UART7_CTS UART7
 
 # telem2
 PC12 UART5_TX UART5
-PD2 UART5_RX UART5
-
-# debug uart
-PD8 USART3_TX USART3
-PD9 USART3_RX USART3
+PD2  UART5_RX UART5
 
 # armed indication
 PE6 nARMED OUTPUT HIGH
@@ -70,6 +42,3 @@ 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/ARK_FPV/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
index 936bb5a773362..e6b743945a884 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
@@ -1,23 +1,10 @@
-# hw definition file for processing by chibios_hwdef.py
-# for the ARK FPV hardware
+# processed by chibios_hwdef.py
 
-# MCU class and specific type
-MCU STM32H7xx STM32H743xx
-
-# crystal frequency
-OSCILLATOR_HZ 16000000
-
-# TODO: changing clockrate causes the build to fail
-# MCU_CLOCKRATE_MHZ 320
+include common.inc
 
 # ChibiOS system timer
 STM32_ST_USE_TIMER 2
 
-# board ID for firmware load
-APJ_BOARD_ID 59
-
-# flash size
-FLASH_SIZE_KB 2048
 
 # bootloader takes first sector
 FLASH_RESERVE_START_KB 128
@@ -42,46 +29,29 @@ STDOUT_BAUDRATE 57600
 # 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
+# Telem1 - Telem
+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
+# Telem2 - VTX (DJI Air Unit)
 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
+PD2  UART5_RX UART5
 
 # GPS1
 PB6 USART1_TX USART1
 PB7 USART1_RX USART1
 
-# uart4
+# Telem3 - VTX (DJI Air Unit, RX only)
+PA3 USART2_RX USART2
+PD5 USART2_TX USART2
+
+# ESC telem RX only
 PH13 UART4_TX UART4
 PH14 UART4_RX UART4
 
-# debug uart
-PD8 USART3_TX USART3
-PD9 USART3_RX USART3
-
-# used for RC SBUS
+# RC Input
 PC6 USART6_TX USART6
 PC7 USART6_RX USART6
 
@@ -95,27 +65,27 @@ PB1 VDD_5V_SENS ADC1 SCALE(2)
 PB0 BATT_VOLTAGE_SENS ADC1 SCALE(1)
 PC2 BATT_CURRENT_SENS ADC1 SCALE(1)
 
-# Now setup the default battery pins driver analog pins and default
-# scaling for the power brick.
+# 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
 
 # ESC Telem on UART4
 define HAL_SERIAL_ESC_COMM_ENABLED 1
 define HAL_WITH_ESC_TELEM 1
 define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_ESCTelemetry
 
-# SPI1 - IIM42653
+# SPI1 - IIM42653 IMU
 PA5 SPI1_SCK SPI1
 PB5 SPI1_MOSI SPI1
 PG9 SPI1_MISO SPI1
 PI9 IMU1_CS CS
 PF2 IMU1_DRDY INPUT
 
-# SPI6 - external1
+# SPI6 - external
 PB3  SPI6_SCK SPI6
 PA6  SPI6_MISO SPI6
 PG14 SPI6_MOSI SPI6
@@ -123,22 +93,25 @@ PI10 EXT1_CS CS
 PD11 DRDY_ADIS16507 INPUT GPIO(93)
 
 # use GPIO(93) for data ready on ADIS16507
-#define ADIS_DRDY_PIN 93
-
-# 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)
-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)
+# define ADIS_DRDY_PIN 93
+
+# Motors
+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) BIDIR
+PI6  TIM8_CH2 TIM8 PWM(6) GPIO(55) BIDIR
+PI7  TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
+PI2  TIM8_CH4 TIM8 PWM(8) GPIO(57) BIDIR
 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
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
 
 # I2C1 (GPS1 compass, external)
 PB9 I2C1_SDA I2C1
@@ -173,18 +146,17 @@ PE6 nARMED OUTPUT HIGH
 PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH
 PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH
 
-# start peripheral power off, then enable after init
+# (12V EN) start peripheral power off, then enable after init
 # this prevents a problem with radios that use RTS for
 # bootloader hold
-# 12V EN
-PG4  nVDD_5V_PERIPH_EN  OUTPUT HIGH
+PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
 
 # power sensing
 PE15 VDD_5V_PERIPH_nOC INPUT PULLUP
 PF13 VDD_5V_HIPOWER_nOC INPUT PULLUP
 PG1 VDD_BRICK_nVALID INPUT PULLUP
 
-# microSD support
+# MicroSD
 PD6  SDMMC2_CK SDMMC2
 PD7  SDMMC2_CMD SDMMC2
 PB14 SDMMC2_D0 SDMMC2
@@ -207,43 +179,30 @@ 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
-
-# barometer on i2c_2
+# Barometer on i2c_2
 BARO BMP388 I2C:1:0x76
 
-# compass
-define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-
-# builtin compass
+# Compass
 COMPASS IIS2MDC I2C:2:0x1E false ROTATION_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
-# IIM42653 on SPI1
+# IIM42653 IMU on SPI1
 SPIDEV iim42653  SPI1 DEVID1  IMU1_CS MODE3  2*MHZ  8*MHZ
-#SPIDEV adis16507  SPI6 DEVID1  EXT1_CS MODE3  1*MHZ  2*MHZ
-
-# IIM42653 IMU
 IMU Invensensev3 SPI:iim42653 ROTATION_YAW_270
-# IMU Invensensev3 SPI:iim42652 ROTATION_YAW_270
-#IMU ADIS1647x    SPI:adis16507 ROTATION_NONE ADIS_DRDY_PIN
+
+# 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
 
-# analog voltage and current
-define HAL_BATT_MONITOR_DEFAULT 4
+DMA_PRIORITY SDMMC* SPI*
 
-DMA_PRIORITY SDMMC* USART6* ADC* UART* USART* SPI* TIM*
+DMA_NOSHARE SPI* TIM5* TIM8*
 
 # enable FAT filesystem support (needs a microSD defined via SDMMC)
 define HAL_OS_FATFS_IO 1
 
-# 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
 
 # bootloader embedding / bootloader flashing not available
 define AP_BOOTLOADER_FLASHING_ENABLED 0