# Pixhawk4 Mini and Arducopter -- Bios

**URL:** <https://discuss.px4.io/t/pixhawk4-mini-and-arducopter-bios/24255>\
**Category:** Uncategorized\
**Created:** [September 19, 2021, 8:19pm UTC](https://discuss.px4.io/t/pixhawk4-mini-and-arducopter-bios/24255 "2021-09-19T20:19:32Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![rjriggins11](https://discuss.px4.io/user_avatar/discuss.px4.io/rjriggins11/32/10825_2.png) [@rjriggins11](https://discuss.px4.io/u/rjriggins11)\
**Post date:** [September 19, 2021, 8:19pm UTC](https://discuss.px4.io/t/pixhawk4-mini-and-arducopter-bios/24255/1 "2021-09-19T20:19:33Z")

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I need to flash my new Pixhawk4 mini with Arducopter firmware in order to use the Arducopter Antenna Tracker. I noticed there is an option to use either NUTTX or CHiBios. Which works best with this combination? I here the hardware works better with NUTTX bios and Arducopter works better with ChiBios. Does anyone have any input?

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**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\
**Post date:** [September 19, 2021, 10:00pm UTC](https://discuss.px4.io/t/pixhawk4-mini-and-arducopter-bios/24255/2 "2021-09-19T22:00:47Z")

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Please follow Ardupilot documentation.

[https://ardupilot.org/ardupilot/](https://ardupilot.org/ardupilot/)

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**Author:** ![rjriggins11](https://discuss.px4.io/user_avatar/discuss.px4.io/rjriggins11/32/10825_2.png) [@rjriggins11](https://discuss.px4.io/u/rjriggins11)\
**Post date:** [September 24, 2021, 12:44am UTC](https://discuss.px4.io/t/pixhawk4-mini-and-arducopter-bios/24255/3 "2021-09-24T00:44:19Z")

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That’s great advice but it doesn’t exactly answer my question.