PX4 Instructions
Last updated
Last updated
The ARK Flow MR 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 back of vehicle, as shown in the following picture.
INFO
The Ark Flow MR will not boot if there is no SD card in the flight controller when powered on.
The steps are:
Connect ARK Flow MR CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot. Flow data should arrive at 10Hz.
Set the following parameters in QGroundControl:
On the ARK Flow MR, you may need to configure the following parameters:
CAN built-in bus termination.
This corresponds to the default value (0) of the parameter . Change the parameter appropriately if using a different orientation.
The sensor can be mounted anywhere on the frame, but you will need to specify the focal point position, relative to vehicle center of gravity, during .
ARK Flow MR runs the . As such, it supports firmware update over the CAN bus and .
In order to use the ARK Flow MR board, connect it to the Pixhawk CAN bus and enable the UAVCAN 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 .
You need to set the EKF optical flow parameters to enable fusing optical flow measurements for velocity calculation, set necessary parameters, and define offsets if the sensor is not centred within the vehicle.
Enable optical flow fusion by setting .
To optionally disable GPS aiding, set to 0.
Enable .
Enable .
Set to 10.
Set to 0.2.
Set to 0.08.
Set to 50.
Set to 0.08.
Set to 25.
Set to 7.4 to match the PAW3902 maximum angular flow rate.
The parameters , and can be set to account for the offset of the Ark Flow from the vehicle centre of gravity.
