PX4 Instructions
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The ARK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the instructions.
The recommended mounting orientation is with the connectors on the board pointing towards the back of vehicle.
The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle center of gravity, during .
ARK GPS runs the . As such, it supports firmware update over the CAN bus and .
ARK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see .
Firmware target: ark_can-gps_default
Bootloader target: ark_can-gps_canbootloader
You need to set necessary parameters and define offsets if the sensor is not centered within the vehicle. The required settings are outlined below.
INFO
The ARK GPS will not boot if there is no SD card in the flight controller when powered on.
The steps are:
Connect ARK GPS CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot. GPS data should arrive at 10Hz.
If the sensor is not centered within the vehicle you will also need to define sensor offsets:
In order to use the ARK GPS board, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter to 2
for dynamic node allocation (or 3
if using ).
In QGroundControl set the parameter to 2
or 3
and reboot (see ).
DroneCAN configuration in PX4 is explained in more detail in .
Enable GPS yaw fusion by setting bit 3 of to true.
Enable , , and .
Set to 1
if this is that last node on the CAN bus.
The parameters , and can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.