Update fails at download

If you have a beta profile installed, ensure this has been removed from your iPad - as, otherwise, installation of production software updates may be inhibited. This support page provides the necessary information to remove the beta from your iPad:

How to uninstall iOS beta software - Apple Support

If the iPadOS 15.7.1/16.1 update still doesn’t appear, perform a forced-restart of your iPad:

• On an iPad with a Home button: Press and hold the top button and the Home button at the same time. When the Apple logo appears, release both buttons.
• On an iPad with Face ID: Press and quickly release the volume up button, press and quickly release the volume down button, then press and hold the top button. When the Apple logo appears, release the button.

After the iPad restarts, look again for the update.

If your iPad is capable of being updated to a more recent version of iOS/iPadOS than is currently installed, these support pages outline both the available methods by which the update can be performed - and troubleshooting should you experience difficulties:

Update your iPhone, iPad or iPod touch – Apple Support

If you can't update or restore your iPhone, iPad or iPod touch – Apple Support

If your iPhone, iPad or iPod touch won’t update - Apple Support

iOS update and restore errors – Apple Support

Be aware that in some circumstances it may be necessary to use a computer to perform the update. To do so you will need access to either a Windows PC (with iTunes for Windows installed) or a Mac (with iTunes or Finder - as appropriate for the installed version of MacOS). Ensure that your installed version of iTunes has been updated to the most recent version; the essential device drivers are included.

Download and use iTunes for Windows – Apple Support

Update to the latest version of iTunes – Apple Support

Update software on iPhone, iPad or iPod touch in iTunes on PC - Apple Support

You should note that for your iPad to install an available update, its battery must be charged to at least 50% capacity - and/or be connected to its Power Adapter. Similarly, the iPad can only be updated over a standard WiFi connection - or be updated by a PC or Mac using iTunes or Finder - over a USB connection.