ARK Flow
ARK Flow is an open source DroneCAN optical flow, distance sensor, and IMU module.
Hardware Specifications
Sensors
PixArt PAW3902 Optical Flow Sensor
Tracks under super low light condition of >9 lux
Wide working range from 80mm up to 30m
Up to 7.4 rad/s
40mW IR LED built onto board for improved low light operation
Broadcom AFBR-S50LV85D Time-of-Flight Distance Sensor
Integrated 850 nm laser light source
Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
Typical distance range up to 30m
Operation of up to 200k Lux ambient light
Works well on all surface conditions
Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
Bosch BMI088 6-Axis IMU or Invensense ICM-42688-P 6-Axis IMU
STM32F412CEU6 MCU
Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
Pixhawk Standard Debug Connector (6 Pin JST SH)
Software-toggleable built in CAN termination resistor
Small Form Factor
3cm x 3cm x 1.4cm
LED Indicators
USA Built
LED Meanings
You will see both red and blue LEDs on the ARK Flow when it is being flashed, and a solid blue LED if it is running properly.
If you see a solid red LED there is an error and you should check the following:
Make sure the flight controller has an SD card installed.
Make sure the Ark Flow has
ark_can-flow_canbootloaderinstalled prior to flashingark_can-flow_default.Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
Video
Video
Pinout
CAN - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
|---|---|---|
1 | 5V | 5.0V |
2 | CAN_P | 5.0V |
3 | CAN_N | 5.0V |
4 | GND | GND |
CAN - 4 Pin JST-GH
| Pin Number | Signal Name | Voltage |
|---|---|---|
1 | 5V | 5.0V |
2 | CAN_P | 5.0V |
3 | CAN_N | 5.0V |
4 | GND | GND |
Debug - 6 Pin JST-SH
| Pin Number | Signal Name | Voltage |
|---|---|---|
1 | 3.3V | 3.3V |
2 | USART2_TX | 3.3V |
3 | USART2_RX | 3.3V |
4 | FMU_SWDIO | 3.3V |
5 | FMU_SWCLK | 3.3V |
6 | GND | GND |
Firmware
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