diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index b748f90397..e6012a2c23 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	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 9068b52bd9..119a0fedff 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
@@ -80,6 +81,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=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/extras/ark_fmu-v6x_bootloader.bin b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin
index 8dbf57ba2e..86de46906e 100755
Binary files a/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin and b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin differ
diff --git a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin
index 957f0f13a1..5140391401 100755
Binary files a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin and b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin differ
diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults
index ba812e4b7b..870ac1af0a 100644
--- a/boards/ark/fmu-v6x/init/rc.board_defaults
+++ b/boards/ark/fmu-v6x/init/rc.board_defaults
@@ -16,6 +16,11 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 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 9c6e81d836..89500da23f 100644
--- a/boards/ark/fmu-v6x/src/board_config.h
+++ b/boards/ark/fmu-v6x/src/board_config.h
@@ -325,7 +325,6 @@
 /* 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 8c2ab001f7..7a3ef5e019 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 9032b1531e..0bd1295978 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 bc4aa33c80..3ece10aeca 100644
--- a/boards/ark/fmu-v6x/src/mtd.cpp
+++ b/boards/ark/fmu-v6x/src/mtd.cpp
@@ -42,11 +42,6 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2
 	.bus_type = px4_mft_device_t::I2C,
 	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
 };
-static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
-	.bus_type =  px4_mft_device_t::I2C,
-	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
-};
-
 
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
@@ -84,34 +79,11 @@ static const px4_mtd_entry_t base_eeprom = {
 	},
 };
 
-static const px4_mtd_entry_t imu_eeprom = {
-	.device = &i2c4,
-	.npart = 3,
-	.partd = {
-		{
-			.type = MTD_CALDATA,
-			.path = "/fs/mtd_caldata",
-			.nblocks = 240
-		},
-		{
-			.type = MTD_MFT_REV,
-			.path = "/fs/mtd_mft_rev",
-			.nblocks = 8
-		},
-		{
-			.type = MTD_ID,
-			.path = "/fs/mtd_id",
-			.nblocks = 8 // 256 = 32 * 8
-		}
-	},
-};
-
 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 3,
+	.nconfigs   = 2,
 	.entries = {
 		&fmum_fram,
 		&base_eeprom,
-		&imu_eeprom
 	}
 };