PX4 Instructions
Hardware Setup
Wiring
The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the CAN Wiring instructions.
Multiple sensors can be connected by plugging additional sensors into the ARK DIST’s second CAN connector.
The ARK DIST can also be connected with UART and communicates over MAVLink sending the DISTANCE_SENSOR message.
Firmware Setup
ARK DIST runs the PX4 DroneCAN Firmware. As such, it supports firmware update over the CAN bus and dynamic node allocation.
Flight Controller Setup
CAN Configuration
Set the following parameters in QGroundControl:
UAVCAN_ENABLE to
2for dynamic node allocationEnable UAVCAN_SUB_RNG.
Set EKF2_RNG_A_HMAX to the max sensor range
Set EKF2_RNG_QLTY_T to 0.2
Set UAVCAN_RNG_MIN to 0
Set UAVCAN_RNG_MAX to the max sensor range
UART/MAVLink Configuration
Set MAV_X_CONFIG to the port the sensor is connected to
Set MAV_X_FORWARD to 0 (off)
Set MAV_X_MODE to 7 or 13 (Minimal or Low Bandwidth) to reduce memory usage
Set SER_X_BAUD to 115200
Set EKF2_RNG_A_HMAX to the max sensor range
Set EKF2_RNG_QLTY_T to 0.2
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