PX4 Instructions
Last updated
Last updated
The recommended mounting orientation is with the connectors on the board pointing towards back of vehicle, as shown in the following picture.
Firmware target: ark_can-flow_default
Bootloader target: ark_can-flow_canbootloader
INFO
The Ark Flow will not boot if there is no SD card in the flight controller when powered on.
The steps are:
Connect ARK Flow 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, you may need to configure the following parameters:
CAN built-in bus termination.
The ARK Flow is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the instructions.
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 centre of gravity, during .
ARK Flow runs the . As such, it supports firmware update over the CAN bus and .
ARK Flow boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see .
In order to use the ARK Flow 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 30.
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.
