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On this page
  • Mavlink Router
  • Remote ID Transmitter
  • Logloader
  • Flight Review
  • DDS Agent
  • Hostspot Control
  • Polaris
  • RTSP Server
  • ARK UI Backend
  • Jetson CAN
  • Jetson Clocks
  1. Flight Controller
  2. ARK Jetson PAB Carrier
  3. ARK Software

Services

This page explains the function of each ARK-OS service.

PreviousARK SoftwareNextAutopilot Connections

Last updated 7 months ago

This collection of services is referred to as ARK-OS and is installed using the . The services are installed as and follow the .

Mavlink Router

The mavlink-router service routes the MAVLink data from the Jetson USB port /dev/ttyACM0 to user defined UDP endpoints. The Jetson USB port is connected directly to the Flight Controller USB and is capable of 3Mbps.

The Jetson Micro-USB is muxed with the Flight controller USB. The Flight Controller USB connection will not work while the Micro-USB is connected.

The configuration can be edited in the . The default configuration is found here:


Remote ID Transmitter

The rid-transmitter service enables compliance with Remote ID requirements as specified in ASTMF3411 by implementing the Bluetooth functionality described in ASTMF3586. It requires a network card that supports Bluetooth 5.2.

The configuration can be edited in the . The default configuration is found here:


Logloader

The logloader service automatically downloads the PX4 .ulg flight logs from the Flight Controller SD card after each flight. It will automatically upload the log to a locally hosted server and optionally upload to a remotely hosted server.

The configuration can be edited in the . The default configuration is found here:


Flight Review


DDS Agent

The Flight Controller firmware needs to be configured by setting these parameters:

Parameter
Value
Description

UXRCE_DDS_CFG

102

TELEM 2

SER_TEL2_BAUD

3000000

3000000 8N1


Hostspot Control


Polaris


RTSP Server

The rtsp-server service provides a RTSP Server for live streaming video. The server uses gstreamer and is currently only compatible with CSI cameras, for example /dev/video0. Stay tuned for future plans to support both CSI and USB cameras.


ARK UI Backend

The ark-ui-backend service is a REST API backend for the ARK-UI. It provides API endpoints for managing services, querying device information, and updating the Flight Controller firmware.


Jetson CAN

This jetson-can service enables the CAN interface on the Jetson.


Jetson Clocks

The jetson-clocks service sets the Jetson clocks to their maximum rate. This will increase the power consumption and heat generation of the Jetson so ensure you are using a heatsink with a fan.

The flight-review service is a locally hosted instance of the web application for flight log plotting and analysis. It can be accessed at . By default all logs downloaded by logloader will be visible on the local server.

The dds-agent service bridges the pub/sub system to ROS2 topics on the Jetson. The bridged topics are defined in PX4 Firmware and can be . The dds-agent runs the on the /dev/ttyTHS1 serial port of the Jetson. This serial port is connected directly to the Flight Controller Telem2 port and is capable of 3Mbps.

For more information please see the official .

The hotspot-control service configures the Jetson as a hotspot if it is unable to connect to a WiFi network after 1 minute from booting. It will create a hotspot with the name jetson-<serialnumber> with a password of password. Once connected to the hotspot you can go to to connect to your local network.

The polaris service provides a client interface to the Point One . This service allows you to receive network RTK corrections over the internet with an active Point One subscription. This allows you to achieve centimeter precision position hold anywhere the network is available.

The configuration can be edited in the . The default configuration is found here:

The configuration can be edited in the . The default configuration is found here:

PX4 Flight Review
http://jetson.local/flight-review/
PX4 uORB
found here
micro-xrce-dds-agent
PX4 docs for UXRCE DDS
http://jetson.local
Polaris RTK Correction Network
ARK-UI
ARK-UI
ARK-OS repository
systemd user services
XDG Base Directory Specification
ARK-UI
ARK-UI
Flight Review
ARK-UI
https://github.com/ARK-Electronics/logloader/blob/main/config.toml
connection_url = "udp://:14551"
local_server = "http://127.0.0.1:5006"
remote_server = "https://review.px4.io"
email = ""
upload_enabled = false
public_logs = false
https://github.com/ARK-Electronics/polaris-client-mavlink/blob/main/config.toml
connection_url = "udp://:14552"
polaris_api_key = "your_api_key_goes_here"
https://github.com/ARK-Electronics/rtsp-server/blob/main/config.toml
[rtsp]
url = "camera1"
address = "0.0.0.0"
port = 5600

[camera]
framerate = 30
bitrate = 5000
resolution = "1920x1080"
resolution_options = ["320x240", "640x480", "1280x720", "1920x1080"]
rotation = "0"
rotation_options = ["0", "90", "180", "270"]
https://github.com/ARK-Electronics/ARK-OS/blob/main/platform/jetson/main.conf
https://github.com/ARK-Electronics/RemoteIDTransmitter/blob/main/config.toml
bluetooth_device = "hci0"
connection_url = "udp://:14553"
manufacturer_code = "MFR1"
serial_number = "123456789ABC"