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Fully compatible
- With the advent of the MJOLNIR [GEN3] in 2559, the Mark IV was upgraded to be fully compatible with the new platform, and it can be requisitioned by Spartan personnel as late as 2560.
www.halopedia.org/MJOLNIR_Powered_Assault_Armor/Mark_IVMJOLNIR Powered Assault Armor - Armor - Halopedia, the Halo wiki
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Mark IV MJOLNIR armor is compatible with the patches used by ODSTs on their armor, making it easier to get extras in a combat situation. This was used twice by Blue Team during the Attack on Naraka to seal their armor when going into vacuum after the armor had sustained such damage that it was no longer vacuum-sealed.
The ODST helmet, however, is compatible with both the Mark V and Mark VI systems, seeing the use of many technologies initially developed for the MJOLNIR program. The ODST helmet on the Mark V (B) platform can support the AN/PCK-221 FARNDALE and AN/PZY-6011Y TYPHON Command Network Modules, a MK55 CBRN module or a Type O5 UA module. [2]
The ODST armor on the Mark Vb is built to Mjolnir standards, which basically means it's a titanium-A plated armor slapped onto the Mjolnir's undersuit in the shape of ODST armor. All Mark Vb armor attachments are considered up armor, meaning it goes on top of the existing armor.
It of course returned as a generic human armour in Halo 2 and finally became a Spartan variant, compatible both ways, in Halo 3 onwards. Ergo, in terms of Canon, ODST variants are likely the best as it's had some of the most widespread use and therefore would've been improved to be very effective, from plenty of combat experiences and data.
Like its GEN1 predecessors it is backwards compatible—through hardware and firmware upgrades—with previous armor systems, including the Mark IV, Mark V, Mark VI, and the MJOLNIR variant of the Orbital Drop Shock Troopers' armor.
Footnotes. MJOLNIR armor. This article is currently under construction. As the subject is under active development, information here may not yet be final. Spartans Kelly-087, Frederic-104 and Ash-G099 sporting Mark V and VI MJOLNIR and Mark II SPI armor, respectively.
1.) He uses Mark IV. [B] in FUD, it's canon. 2.) They had Mark VI. GEN2, cause the beginning and ending takes place when they used that armor.