diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index cc114cc635..a20f7c70b7 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -171,7 +171,7 @@ else
 		param select-backup /fs/microsd/parameters_backup.bson
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
 	then
 		netman update -i eth0
 	fi
diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board
index f57fd7df13..8efe48b07e 100644
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -85,6 +86,7 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults
index a7d844a366..870ac1af0a 100644
--- a/boards/ark/fmu-v6x/init/rc.board_defaults
+++ b/boards/ark/fmu-v6x/init/rc.board_defaults
@@ -16,4 +16,11 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
+if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
+then
+	param set-default SYS_USE_IO 0
+else
+	param set-default SYS_USE_IO 1
+fi
+
 safety_button start
diff --git a/boards/ark/fmu-v6x/src/board_config.h b/boards/ark/fmu-v6x/src/board_config.h
index 3db9c72883..8ea22d7af2 100644
--- a/boards/ark/fmu-v6x/src/board_config.h
+++ b/boards/ark/fmu-v6x/src/board_config.h
@@ -326,7 +326,6 @@
 /* RC Serial port */
 
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
diff --git a/boards/ark/fmu-v6x/src/bootloader_main.c b/boards/ark/fmu-v6x/src/bootloader_main.c
index 915b7f3d29..f05dc1b9f0 100644
--- a/boards/ark/fmu-v6x/src/bootloader_main.c
+++ b/boards/ark/fmu-v6x/src/bootloader_main.c
@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform/gpio.h>
 #include <px4_platform_common/init.h>
 
 extern int sercon_main(int c, char **argv);
@@ -54,6 +55,15 @@ __EXPORT void board_on_reset(int status) {}
 
 __EXPORT void stm32_boardinitialize(void)
 {
+	/* configure pins */
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
+
+	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
+		if (list[gpio] != 0) {
+			px4_arch_configgpio(list[gpio]);
+		}
+	}
+
 	/* configure USB interfaces */
 	stm32_usbinitialize();
 }
diff --git a/boards/ark/fmu-v6x/src/init.c b/boards/ark/fmu-v6x/src/init.c
index a96a406496..f7be1bea79 100644
--- a/boards/ark/fmu-v6x/src/init.c
+++ b/boards/ark/fmu-v6x/src/init.c
@@ -105,6 +105,7 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
 
+	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
@@ -123,6 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
+	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -209,7 +211,6 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_3V3_SENSORS4_EN(true);
diff --git a/boards/ark/fmu-v6x/src/mtd.cpp b/boards/ark/fmu-v6x/src/mtd.cpp
index 0d32267f31..e0b3c47f81 100644
--- a/boards/ark/fmu-v6x/src/mtd.cpp
+++ b/boards/ark/fmu-v6x/src/mtd.cpp
@@ -43,7 +43,6 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2
 	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
 };
 
-
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
 	.npart = 2,