ARK-Electronics · dakejahl · May 29, 2026
diff --git a/embedded-computers/ark-just-a-jetson/camera-overlays.md b/embedded-computers/ark-just-a-jetson/camera-overlays.md
@@ -11,12 +11,9 @@ The following camera overlays are available for the ARK Just A Jetson:
 | Camera ARK IMX219 Quad | Four IMX219 cameras (using camera mux board) | Tested |
 | Camera ARK IMX219 Single | Single IMX219 camera | Tested |
 | Camera ARK IMX477 Single | Single IMX477 camera | Tested |
-| Camera IMX477 Dual 4 lane | Dual IMX477 cameras using 4-lane CSI | Not Working |
 
-{% hint style="warning" %}
-**4-Lane CSI Mode Not Working on JetPack 6**
-
-The 4-lane CSI overlays are currently non-functional due to a bug in the JetPack 6 kernel. This affects the "Camera IMX477 Dual 4 lane" overlay. See the [NVIDIA Developer Forum issue](https://forums.developer.nvidia.com/t/imx477-4lane-on-cam1/333270) for updates on a fix.
+{% hint style="info" %}
+**IMX477 4-lane mode is not supported.** The 4-lane overlays have been removed because the `nv_imx477` driver's 4-lane initialization is broken upstream. 2-lane mode delivers the full 12 MP at 30 fps. See the kernel repo's [camera documentation](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/docs/cameras.md) for details.
 {% endhint %}
 
 ## Listing Available Overlays
@@ -40,12 +37,10 @@ Header 1 [default]: Jetson 40pin Header
   6. ReSpeaker 4 Mic Linear Array
 Header 2: Jetson 24pin CSI Connector
   Available hardware modules:
-  1. ARK IMX477 Dual 4 lane
-  2. ARK IMX477 Single 4 lane
-  3. Camera ARK ARDUCAM Single
-  4. Camera ARK IMX219 Quad
-  5. Camera ARK IMX219 Single
-  6. Camera ARK IMX477 Single
+  1. Camera ARK ARDUCAM Single
+  2. Camera ARK IMX219 Quad
+  3. Camera ARK IMX219 Single
+  4. Camera ARK IMX477 Single
 Header 3: Jetson M.2 Key E Slot
   No hardware configurations found!
 ```
@@ -86,124 +81,78 @@ v4l2-ctl --set-fmt-video=width=3840,height=2160,pixelformat=RG10 --stream-mmap -
 
 ## Building and Installing Camera Overlays
 
-There are two approaches for building and deploying camera overlays:
-
-1. **Include in kernel build** - The overlay is built and included in the flashed image
-2. **Build standalone** - Build the overlay separately and copy it to an already-flashed system
-
-### Option 1: Include Overlay in Kernel Build
-
-This approach includes the overlay in the kernel build so it's available immediately after flashing.
-
-#### Step 1: Create the overlay source file
+Camera overlays are built from the [ARK Jetson Kernel](https://github.com/ARK-Electronics/ark_jetson_kernel) repository. You can either include the overlay in a full kernel build/flash, or build it standalone and copy it onto an already-flashed Jetson. For the full list of tested cameras and test commands, see the kernel repo's [camera documentation](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/docs/cameras.md).
 
-Create your `.dts` file in the device tree overlay directory:
+Clone and set up the repository (one time):
 
 ```
-device_tree/ark_jaj/Linux_for_Tegra/source/hardware/nvidia/t23x/nv-public/overlay/
+git clone https://github.com/ARK-Electronics/ark_jetson_kernel
+cd ark_jetson_kernel
+./setup.sh
 ```
 
-You can use an existing ARK overlay as a template (e.g., `tegra234-p3767-camera-p3768-ark-imx477-single.dts`).
+### Option 1: Include the Overlay in the Kernel Build
+
+This bakes the overlay into the flashed image so it is available immediately after flashing.
 
-#### Step 2: Add to the Makefile
+#### Step 1: Create the overlay source file
 
-Edit the Makefile in the same directory and add your overlay to the build:
+Add your `.dts` to the overlay directory for this carrier, using an existing ARK overlay as a template (e.g. `tegra234-p3767-camera-p3768-ark-imx477-single.dts`):
 
 ```
-device_tree/ark_jaj/Linux_for_Tegra/source/hardware/nvidia/t23x/nv-public/overlay/Makefile
+products/JAJ/device_tree/source/hardware/nvidia/t23x/nv-public/overlay/
 ```
 
-Add a line like:
+#### Step 2: Register it in the Makefile
+
+Add your overlay to the `Makefile` in that same directory:
 
 ```makefile
 dtbo-y += your-custom-overlay.dtbo
 ```
 
-#### Step 3: Add to copy_dtbs_to_prebuilt.sh
-
-Edit `copy_dtbs_to_prebuilt.sh` in the repository root to copy your overlay to the prebuilt directory. You'll need to add a section for JAJ builds (similar to the PAB section) with lines like:
-
-```bash
-sudo cp $DTBS_SOURCE_PATH/your-custom-overlay.dtbo $PREBUILT_PATH/rootfs/boot/
-sudo cp $DTBS_SOURCE_PATH/your-custom-overlay.dtbo $PREBUILT_PATH/kernel/dtb/
-```
-
-#### Step 4: Build and flash
-
-Run the build and flash scripts:
+#### Step 3: Build and flash
 
 ```
-./build_kernel.sh   # Select JAJ when prompted
-./flash.sh
+./build.sh JAJ
+./flash.sh JAJ
 ```
 
-Your overlay will now be available via `config-by-hardware.py -l` after flashing.
-
-### Option 2: Build Standalone and Copy to Flashed System
+Your overlay will then be listed by `config-by-hardware.py -l` after flashing.
 
-This approach builds an overlay and copies it to a Jetson that has already been flashed.
+### Option 2: Build Standalone and Copy to a Flashed System
 
-#### Step 1: Set up the build environment
+This builds the overlay and copies it onto a Jetson that has already been flashed — no reflash required.
 
-Clone and set up the repository:
+#### Step 1: Build the device tree overlays
 
 ```
-git clone https://github.com/ARK-Electronics/ark_jetson_kernel
-cd ark_jetson_kernel
-./setup.sh
-```
-
-#### Step 2: Copy device tree files and build
-
-Copy the JAJ device tree files and build:
-
+./build.sh JAJ
 ```
-export CROSS_COMPILE=$HOME/l4t-gcc/aarch64--glibc--stable-2022.08-1/bin/aarch64-buildroot-linux-gnu-
-export KERNEL_HEADERS=$PWD/source_build/Linux_for_Tegra/source/kernel/kernel-jammy-src
 
-# Copy JAJ device tree files
-cp -r device_tree/ark_jaj/Linux_for_Tegra/* source_build/Linux_for_Tegra/
+The compiled `.dtbo` files land in:
 
-cd source_build/Linux_for_Tegra/source/
-make dtbs
 ```
-
-The compiled `.dtbo` files will be in:
-
-```
-source_build/Linux_for_Tegra/source/kernel-devicetree/generic-dts/dtbs/
+staging/JAJ/Linux_for_Tegra/source/kernel-devicetree/generic-dts/dtbs/
 ```
 
-#### Step 3: Copy overlay to the Jetson
+#### Step 2: Copy the overlay to the Jetson
 
-Copy the overlay via USB-C (default IP when connected via USB):
+Copy via USB-C (default IP when connected via USB):
 
 ```
-DTB_PATH="$PWD/source_build/Linux_for_Tegra/source/kernel-devicetree/generic-dts/dtbs/"
-OVERLAY_DTB=tegra234-p3767-camera-p3768-ark-imx219-quad.dtbo
+DTB_PATH="staging/JAJ/Linux_for_Tegra/source/kernel-devicetree/generic-dts/dtbs"
+OVERLAY_DTB=tegra234-p3767-camera-p3768-ark-imx219-single.dtbo
 scp $DTB_PATH/$OVERLAY_DTB jetson@192.168.55.1:~
 ```
 
-#### Step 4: Install the overlay on the Jetson
+#### Step 3: Install and apply on the Jetson
 
-SSH into the Jetson and move the overlay to `/boot`:
+SSH in, move the overlay to `/boot`, apply it, and reboot:
 
 ```
-ssh jetson@jetson.local
-sudo mv tegra234-p3767-camera-p3768-ark-imx219-quad.dtbo /boot
-```
-
-#### Step 5: Apply and reboot
-
-Verify the overlay is available:
-
-```
-sudo /opt/nvidia/jetson-io/config-by-hardware.py -l
-```
-
-Apply the overlay:
-
-```
-sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Camera ARK IMX219 Quad"
+ssh jetson@192.168.55.1
+sudo mv tegra234-p3767-camera-p3768-ark-imx219-single.dtbo /boot
+sudo /opt/nvidia/jetson-io/config-by-hardware.py -n 2="Camera ARK IMX219 Single"
 sudo reboot
 ```
diff --git a/embedded-computers/ark-just-a-jetson/flashing-guide.md b/embedded-computers/ark-just-a-jetson/flashing-guide.md
@@ -4,13 +4,13 @@ If you purchased a bundle the [Jetpack Ubuntu OS](https://developer.nvidia.com/e
 
 ## ARK Jetson Kernel GitHub Repository
 
-This repository contains helper scripts to download and build the kernel. Please follow the README.\
+The repository provides prebuilt flash packages (recommended) and scripts to build the kernel from source. Follow the README:\
 [https://github.com/ARK-Electronics/ark\_jetson\_kernel](https://github.com/ARK-Electronics/ark_jetson_kernel)
 
 ## Device Tree
 
 The ARK Just A Jetson requires a custom device tree to enable all hardware features. The device tree files are located here:\
-[https://github.com/ARK-Electronics/ark\_jetson\_kernel/tree/main/device\_tree/ark\_jaj](https://github.com/ARK-Electronics/ark_jetson_kernel/tree/main/device_tree/ark_jaj)
+[https://github.com/ARK-Electronics/ark\_jetson\_kernel/tree/main/products/JAJ/device\_tree](https://github.com/ARK-Electronics/ark_jetson_kernel/tree/main/products/JAJ/device_tree)
 
 ## Overview
 

diff --git a/embedded-computers/ark-just-a-jetson/getting-started.md b/embedded-computers/ark-just-a-jetson/getting-started.md
@@ -13,7 +13,7 @@ When you order an ARK Just A Jetson bundle:
 The ARK Just A Jetson requires a custom device tree to enable all hardware features. If you reflash your Jetson, you must use the ARK kernel with the correct device tree.
 {% endhint %}
 
-Device tree files: [https://github.com/ARK-Electronics/ark_jetson_kernel/tree/main/device_tree/ark_jaj](https://github.com/ARK-Electronics/ark_jetson_kernel/tree/main/device_tree/ark_jaj)
+Device tree files: [https://github.com/ARK-Electronics/ark_jetson_kernel/tree/main/products/JAJ/device_tree](https://github.com/ARK-Electronics/ark_jetson_kernel/tree/main/products/JAJ/device_tree)
 
 See the [Flashing Guide](flashing-guide.md) for complete instructions.
 

diff --git a/embedded-computers/ark-just-a-jetson/gpio-control.md b/embedded-computers/ark-just-a-jetson/gpio-control.md
@@ -57,7 +57,7 @@ For a complete working example, see the [i2s_gpio_example.py](https://github.com
 
 ## Creating Custom Overlays
 
-To create your own overlay for different pins, refer to the annotated example overlay in the [ark_jetson_kernel](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/device_tree/ark_jaj/Linux_for_Tegra/source/hardware/nvidia/t23x/nv-public/overlay/ark_i2s_gpio.dts) repository.
+To create your own overlay for different pins, refer to the annotated example overlay in the [ark_jetson_kernel](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/products/JAJ/device_tree/source/hardware/nvidia/t23x/nv-public/overlay/ark_i2s_gpio.dts) repository.
 
 The overlay file contains documentation explaining how to:
 

diff --git a/embedded-computers/ark-just-a-jetson/imu-icm-42688p-guide.md b/embedded-computers/ark-just-a-jetson/imu-icm-42688p-guide.md
@@ -1,6 +1,6 @@
 # IMU ICM-42688P Guide
 
-The ICM-42688P is connected to SPI1 on the Just a Jetson. See the [pinmux spreadsheet](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/device_tree/ark_jaj/Jetson_Orin_NX_and_Orin_Nano_series_Pinmux_Config_Jetpack_6.xlsm) for the GPIO assignments.&#x20;
+The ICM-42688P is connected to SPI1 on the Just a Jetson. See the [pinmux spreadsheet](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/products/JAJ/Jetson_Orin_NX_and_Orin_Nano_series_Pinmux_Config_Jetpack_6.xlsm) for the GPIO assignments.&#x20;
 
 The device shows up in linux under /dev/spidev1.0
 

diff --git a/products/flight-controller/jetson-pabs/ark-jetson-pab-carrier-v3/flashing-guide.md b/products/flight-controller/jetson-pabs/ark-jetson-pab-carrier-v3/flashing-guide.md
@@ -10,9 +10,14 @@ If you purchased a bundle the [Jetpack Ubuntu OS](https://developer.nvidia.com/e
 
 ## ARK Jetson Kernel GitHub Repository
 
-This repository contains helper scripts to download and build the kernel. Please follow the README.\
+The repository provides prebuilt flash packages (recommended) and scripts to build the kernel from source. Follow the README:\
 [https://github.com/ARK-Electronics/ark\_jetson\_kernel](https://github.com/ARK-Electronics/ark_jetson_kernel)
 
+## Device Tree
+
+The ARK Jetson PAB Carrier V3 requires a custom device tree to enable all hardware features. The device tree files are located here:\
+[https://github.com/ARK-Electronics/ark\_jetson\_kernel/tree/main/products/PAB\_V3/device\_tree](https://github.com/ARK-Electronics/ark_jetson_kernel/tree/main/products/PAB_V3/device_tree)
+
 ## Overview
 
 To flash the kernel you will need to connect the Jetson to your Host PC using the **USB C** connection. You must boot the Jetson while holding the **Force Recovery** button.
diff --git a/products/flight-controller/jetson-pabs/ark-jetson-pab-carrier-v3/gpio-control.md b/products/flight-controller/jetson-pabs/ark-jetson-pab-carrier-v3/gpio-control.md
@@ -57,7 +57,7 @@ For a complete working example, see the [i2s_gpio_example.py](https://github.com
 
 ## Creating Custom Overlays
 
-To create your own overlay for different pins, refer to the annotated example overlay in the [ark_jetson_kernel](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/device_tree/ark_pab/Linux_for_Tegra/source/hardware/nvidia/t23x/nv-public/overlay/ark_i2s_gpio.dts) repository.
+To create your own overlay for different pins, refer to the annotated example overlay in the [ark_jetson_kernel](https://github.com/ARK-Electronics/ark_jetson_kernel/blob/main/products/PAB_V3/device_tree/source/hardware/nvidia/t23x/nv-public/overlay/ark_i2s_gpio.dts) repository.
 
 The overlay file contains documentation explaining how to: