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26
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@ -35,7 +35,7 @@
- [静态压力生成](advanced_config/static_pressure_buildup.md)
- [Flying (Basics)](flying/basic_flying_mc.md)
- [整机](complete_vehicles_mc/index.md)
- [ModalAI Starling (PX4 Dev Kit)](complete_vehicles_mc/modalai_starling.md)
- [ModalAI Starling](complete_vehicles_mc/modalai_starling.md)
- [PX4 视觉套件](complete_vehicles_mc/px4_vision_kit.md)
- [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md)
- [MindRacer 210](complete_vehicles_mc/mindracer210.md)
@ -194,6 +194,7 @@
- [SVehicle E2](flight_controller/svehicle_e2.md)
- [ThePeach FCC-K1](flight_controller/thepeach_k1.md)
- [ThePeach FCC-R1](flight_controller/thepeach_r1.md)
- [AP-H743-R1](flight_controller/x-mav_ap-h743r1.md)
- [Experimental Autopilots](flight_controller/autopilot_experimental.md)
- [BeagleBone Blue](flight_controller/beaglebone_blue.md)
- [Raspberry Pi 2/3 Navio2](flight_controller/raspberry_pi_navio2.md)
@ -246,18 +247,22 @@
- [TFSlot Airspeed Sensor](sensor/airspeed_tfslot.md)
- [Barometers](sensor/barometer.md)
- [距离传感器 \(测距仪\)](sensor/rangefinders.md)
- [Ainstein US-D1 标准雷达高度计](sensor/ulanding_radar.md)
- [ARK DIST SR (CAN/UART)](dronecan/ark_dist.md)
- [ARK DIST MR (CAN/UART)](dronecan/ark_dist_mr.md)
- [北醒 TFmini 激光雷达](sensor/tfmini.md)
- [LeddarOne 激光雷达](sensor/leddar_one.md)
- [Lidar-Lite](sensor/lidar_lite.md)
- [Lightware Lidars (SF/LW)](sensor/sfxx_lidar.md)
- [Lightware SF45 Rotary Lidar](sensor/sf45_rotating_lidar.md)
- [Ainstein US-D1 标准雷达高度计](sensor/ulanding_radar.md)
- [LeddarOne 激光雷达](sensor/leddar_one.md)
- [北醒 TFmini 激光雷达](sensor/tfmini.md)
- [Lidar-Lite](sensor/lidar_lite.md)
- [TeraRanger](sensor/teraranger.md)
- [✘ Lanbao PSK-CM8JL65-CC5](sensor/cm8jl65_ir_distance_sensor.md)
- [Avionics Anonymous Laser Altimeter UAVCAN Interface (CAN)](dronecan/avanon_laser_interface.md)
- [GNSS (GPS)](gps_compass/index.md)
- [ARK GPS (CAN)](dronecan/ark_gps.md)
- [ARK DAN GPS](gps_compass/ark_dan_gps.md)
- [ARK SAM GPS](gps_compass/ark_sam_gps.md)
- [ARK SAM GPS MINI](gps_compass/ark_sam_gps_mini.md)
- [ARK TESEO GPS](dronecan/ark_teseo_gps.md)
- [CUAV NEO 3 GPS](gps_compass/gps_cuav_neo_3.md)
- [CUAV NEO 3 Pro GPS (CAN)](gps_compass/gps_cuav_neo_3pro.md)
@ -269,6 +274,8 @@
- [Sky-Drones SmartAP GPS](gps_compass/gps_smartap.md)
- [RTK GNSS](gps_compass/rtk_gps.md)
- [ARK RTK GPS (CAN)](dronecan/ark_rtk_gps.md)
- [ARK RTK GPS L1 L5 (CAN)](dronecan/ark_rtk_gps_l1_l2.md)
- [ARK X20 RTK GPS (CAN)](dronecan/ark_x20_rtk_gps.md)
- [ARK MOSAIC-X5 RTK GPS (CAN)](dronecan/ark_mosaic__rtk_gps.md)
- [RTK GPS Heading with Dual u-blox F9P](gps_compass/u-blox_f9p_heading.md)
- [CUAV C-RTK](gps_compass/rtk_gps_cuav_c-rtk.md)
@ -353,13 +360,14 @@
- [Battery Estimation Tuning](config/battery.md)
- [Battery Chemistry Overview](power_systems/battery_chemistry.md)
- [Power Modules/PDB](power_module/index.md)
- [ARK PAB Power Module](power_module/ark_pab_power_module.md)
- [ARK 12S PAB Power Module](power_module/ark_12s_pab_power_module.md)
- [ARK 12S Payload Power Module](power_module/ark_12s_payload_power_module.md)
- [雷迅 HV pm](power_module/cuav_hv_pm.md)
- [雷迅 CAN PMU](dronecan/cuav_can_pmu.md)
- [Holybro PM02](power_module/holybro_pm02.md)
- [Holybro PM07](power_module/holybro_pm07_pixhawk4_power_module.md)
- [Holybro PM06 V2](power_module/holybro_pm06_pixhawk4mini_power_module.md)
- [ARK PAB Power Module](power_module/ark_pab_power_module.md)
- [ARK 12S PAB Power Module](power_module/ark_12s_pab_power_module.md)
- [Holybro PM02D (digital)](power_module/holybro_pm02d.md)
- [Holybro PM03D (digital)](power_module/holybro_pm03d.md)
- [Pomegranate Systems Power Module](dronecan/pomegranate_systems_pm.md)
@ -605,6 +613,7 @@
- [FollowTargetEstimator](msg_docs/FollowTargetEstimator.md)
- [FollowTargetStatus](msg_docs/FollowTargetStatus.md)
- [FuelTankStatus](msg_docs/FuelTankStatus.md)
- [GainCompression](msg_docs/GainCompression.md)
- [GeneratorStatus](msg_docs/GeneratorStatus.md)
- [GeofenceResult](msg_docs/GeofenceResult.md)
- [GeofenceStatus](msg_docs/GeofenceStatus.md)
@ -755,8 +764,11 @@
- [ArmingCheckReplyV0](msg_docs/ArmingCheckReplyV0.md)
- [ArmingCheckRequestV0](msg_docs/ArmingCheckRequestV0.md)
- [BatteryStatusV0](msg_docs/BatteryStatusV0.md)
- [ConfigOverridesV0](msg_docs/ConfigOverridesV0.md)
- [EventV0](msg_docs/EventV0.md)
- [HomePositionV0](msg_docs/HomePositionV0.md)
- [RegisterExtComponentReplyV0](msg_docs/RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](msg_docs/RegisterExtComponentRequestV0.md)
- [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
- [VehicleLocalPositionV0](msg_docs/VehicleLocalPositionV0.md)
- [VehicleStatusV0](msg_docs/VehicleStatusV0.md)

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# ModalAI Starling (PX4 Autonomy Developer Kit)
# ModalAI Starling 2
The [Starlings](https://www.modalai.com/pages/starlings) are SLAM development drones supercharged by [VOXL 2](../flight_controller/modalai_voxl_2.md) and PX4 with SWAP-optimized sensors and payloads optimized for indoor and outdoor autonomous navigation.
Powered by Blue UAS Framework autopilot, VOXL 2, the Starling weighs only 275g and boasts an impressive 30 minutes of autonomous indoor flight time.
The [Starlings](https://www.modalai.com/pages/starlings) are NDAA-compliant SLAM development drones based on the [VOXL 2](../flight_controller/modalai_voxl_2.md) and PX4 with SWAP-optimized sensors and payloads optimized for indoor and outdoor autonomous navigation.
![Overview](../../assets/hardware/complete_vehicles/modalai_starling/starling_front_hero.jpg)
## 综述
The ModalAI PX4 Autonomy Developer Kit is a Starling-based development drone.
It houses a [VOXL 2](../flight_controller/modalai_voxl_2.md), which is a powerful companion computer and PX4 flight controller in one small package, image sensors, GPS, and connectivity modem, and is ready-to-fly out-of-the-box.
The Starling features ModalAI's [open SDK](https://docs.modalai.com/voxl-developer-bootcamp/) that has pre-configured autonomy models for computer vision assisted flight.
This development drone is meant to help you get to market faster and accelerate your application development and prototyping.
Starling drones house _VOXL 2_, which is a powerful companion computer, a PX4 flight controller, image sensors, GPS, and connectivity modem, in one small package.
The Starlings feature ModalAI's open source [VOXL SDK](https://gitlab.com/voxl-public/voxl-sdk) that has pre-configured autonomy models for computer vision assisted flight.
This guide explains the minimal additional setup required to get the UAV ready to fly.
It also covers a hardware overview, first flight, setting up WiFi, and more.
:::info
For complete and regularly updated documentation, please visit <https://docs.modalai.com/starling-v2>.
:::
These development drones are ready-to-fly out-of-the-box.
They are designed to help you get to market faster and accelerate your application development and prototyping.
:::info
If you are new to VOXL, be sure to familiarize yourself with the core features of VOXL hardware and software by reviewing the [VOXL Bootcamp](https://docs.modalai.com/voxl-developer-bootcamp/).
:::
:::info
For complete and regularly updated documentation, please visit <https://docs.modalai.com/starling-2/> and <https://docs.modalai.com/starling-2-max/>.
:::
## Starling 2
The [Starling 2](https://www.modalai.com/products/starling-2) is an NDAA-compliant development drone supercharged by the VOXL SDK and equipped with a new image sensor suite for precise, indoor visual navigation and SLAM. Powered by the Blue UAS Framework autopilot, VOXL 2, the Starling 2 weighs 280g and boasts an impressive 40 minutes of autonomous flight time.
![Image of the front of Starling 2](../../assets/hardware/complete_vehicles/modalai_starling/d0014_front_1920x800.png)
## Starling 2 Max
The [Starling 2 Max](https://www.modalai.com/products/starling-2-max) is VOXL 2-powered, NDAA-compliant development drone supercharged by VOXL SDK specifically designed for computer vision-based, long-range dead reckoning with a 500g payload capacity. Powered by the Blue UAS Framework autopilot, VOXL 2, the Starling 2 Max weighs 500g and boasts an impressive 55 minutes of autonomous flight time.
![Image of front of a Starling 2 Max](../../assets/hardware/complete_vehicles/modalai_starling/d0012_front_1920x800.png)
## 购买渠道
[ModalAI PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit?variant=46969885950256)
[ModalAI Starling 2](https://www.modalai.com/products/starling-2)
## Hardware Overview
![Hardware Overview](../../assets/hardware/complete_vehicles/modalai_starling/mrb_d0005_4_v2_c6_m22__callouts_a.jpg)
| Callout | 描述 | MPN |
| ------- | -------------------------------------------------------- | ---------------- |
| A | VOXL 2 | MDK-M0054-1 |
| B | VOXL 4-in-1 ESC | MDK-M0117-1 |
| C | Barometer Shield Cap | M10000533 |
| D | ToF Image Sensor (PMD) | MDK-M0040 |
| E | Tracking Image Sensor (OV7251) | M0014 |
| F | Hires Image Sensor (IMX214) | M0025-2 |
| G | AC600 WiFi Dongle | AWUS036EACS |
| H | GNSS GPS Module & Compass | M10-5883 |
| I | 915MHz ELRS Receiver | BetaFPV Nano RX |
| J | USB C Connector on VOXL 2 (not shown) | |
| K | VOXL Power Module | MCCA-M0041-5-B-T |
| L | 4726FM Propellor | M10000302 |
| M | Motor 1504 | |
| N | XT30 Power Connector | |
## Datasheet
### 产品规格
| Component | 技术规范 |
| --------------- | ----------------------------------------------------------------- |
| 飞控 | VOXL2 |
| Take-off Weight | 275g (172g without battery) |
| Diagonal Size | 211mm |
| Flight Time | > 30 minutes |
| 电机 | 1504 |
| Propellers | 120mm |
| 框架 | 3mm Carbon Fiber |
| ESC | ModalAI VOXL 4-in-1 ESC V2 |
| GPS | UBlox M10 |
| RC Receiver | 915mhz ELRS |
| Power Module | ModalAI Power Module v3 - 5V/6A |
| Battery | Sony VTC6 3000mah 2S, or any 2S 18650 battery with XT30 connector |
| 高度 | 83mm |
| Width | 187mm (Props folded) |
| Length | 142mm (Props folded) |
### Hardware Wiring Diagram
![Hardware Overview](../../assets/hardware/complete_vehicles/modalai_starling/d0005_compute_wiring_d.jpg)
## Tutorials
### ELRS Set Up
Binding your ELRS (ExpressLRS) receiver to a transmitter is a crucial step in preparing your VOXL 2 based PX4 Autonomy Developer Kit by ModalAI for flight.
This process ensures a secure and responsive connection between your drone and its control system.
Follow this guide to bind your ELRS receiver to your transmitter.
#### Setting up the Receiver
1. **Power On the Receiver**: Once your drone is powered on, you'll notice the ELRS receiver's blue LED flashing.
This is an indication that the receiver is on but has not yet established a connection with a transmitter.
![Starling Receiver](../../assets/hardware/complete_vehicles/modalai_starling/starling-photo.png)
2. **Enter Binding Mode**: To initiate binding, open a terminal and execute the `adb shell` and `voxl-elrs -bind` commands.
You'll observe the receiver's LED switch to a flashing in a heartbeat pattern, signaling that it is now in binding mode.
![Boot Screenshot](../../assets/hardware/complete_vehicles/modalai_starling/screenshot-boot.png)
#### Setting up the Transmitter
1. **Access the Menu**: On your Commando 8 radio transmitter included in the kit, press the left mode button to open the menu system.
![Press Menu on RC](../../assets/hardware/complete_vehicles/modalai_starling/radio-1.png)
2. **Navigate to ExpressLRS**: Use the right button to select the first menu entry, which should be "ExpressLRS."
3. **Find the Bind Option**: With the "ExpressLRS" option selected, scroll down to the bottom of the menu to locate the "Bind" section. This can be done by pressing the right button downwards until you reach the "Bind" option.
![Press Binding on RC](../../assets/hardware/complete_vehicles/modalai_starling/radio-2.png)
4. **Initiate Binding**: Select "Bind" to put the transmitter into binding mode. You will know the process has been successful when the transmitter emits a beep, indicating a successful bind.
#### Completing the Binding Process
Once the transmitter is set to bind mode, the ELRS receiver on the drone will change its LED from flashing to a steady light, signifying a successful connection between the receiver and the transmitter.
- **Power Cycle**: After the binding process is complete, it's essential to power cycle the VOXL 2 before attempting to fly.
This means turning off the VOXL 2 and then turning it back on.
This step ensures that all settings are properly applied and that the system recognizes the newly established connection.
You should now have a successfully bound ELRS receiver to your transmitter, ready for use with the PX4 Autonomy Kit by ModalAI.
A secure connection is vital for the reliable operation of your drone, so always confirm the binding status before flight.
### 视频
- [VOXL 2 Starling Hardware Overview](https://youtu.be/M9OiMpbEYOg)
- [VOXL 2 Starling First Flight Tutorial](https://youtu.be/Cpbbye3Z6co)
- [VOXL 2 Starling ELRS Set Up](https://youtu.be/7OwGS-kcFVg)
[ModalAI Starling 2 Max](https://www.modalai.com/products/starling-2-max)
<!-- @katzfey - ModalAI reviewer -->

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# ARK DIST SR
ARK DIST SR is a low range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
It has an approximate range of between 8cm to 30m.
![ARK DIST SR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-dist-sr/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
- 传感器
- [Broadcom AFBR-S50LV85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lv85d)
- Typical distance range up to 30m
- Integrated 850 nm laser light source
- Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
- Operation of up to 200k Lux ambient light
- Reference Pixel for system health monitoring
- Works well on all surface conditions
- Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- Pixhawk Standard UART Connector (6 Pin JST SH)
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- Small Form Factor
- 2.0cm x 2.8cm x 1.4cm
- 4g
- LED Indicators
- USA Built
- NDAA Compliant
- Power Requirements
- 5v
- 84mA Average
- 86mA Max
## 硬件安装
### 布线
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](../can/index.md#wiring) instructions.
The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
## Firmware Setup
ARK DIST SR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
## PX4 配置
### DroneCAN
#### Enable DroneCAN
步骤如下：
- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
- Connect ARK DIST SR CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
Distance sensor data should arrive at 40Hz.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
#### CAN Configuration
First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
Set the following parameters in _QGroundControl_:
- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `30`.
See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
### UART/MAVLink Configuration
If connecting via a UART set the following parameters in _QGroundControl_:
- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off).
- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
## 另见
- [ARK DIST SR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)

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# ARK DIST MR
ARK DIST MR is a mid range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
![ARK DIST MR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-dist-mr/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
- 传感器
- [Broadcom AFBR-S50LX85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lx85d)
- Typical distance range up to 50m
- Integrated 850 nm laser light source
- Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
- Operation of up to 200k Lux ambient light
- Reference Pixel for system health monitoring
- Works well on all surface conditions
- Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- Pixhawk Standard UART Connector (6 Pin JST SH)
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- Small Form Factor
- 2.0cm x 2.8cm x 1.4cm
- 4g
- LED Indicators
- USA Built
- NDAA Compliant
- Power Requirements
- 5v
- 78mA Average
- 84mA Max
## 硬件安装
### 布线
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](../can/index.md#wiring) instructions.
The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
## Firmware Setup
ARK DIST MR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
## PX4 配置
### DroneCAN
#### Enable DroneCAN
步骤如下：
- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
- Connect ARK DIST SR CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
Distance sensor data should arrive at 40Hz.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
#### CAN Configuration
First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
Set the following parameters in _QGroundControl_:
- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `50`.
See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
### UART/MAVLink Configuration
If connecting via a UART set the following parameters in _QGroundControl_:
- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off).
- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
## 另见
- [ARK DIST MR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)

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- Multi-band RTK with fast convergence times and reliable performance
- High update rate for highly dynamic applications
- Centimetre accuracy in a small and energy efficient module
- Moving Base for Heading
- Bosch BMM150 Magnetometer
- Bosch BMP388 Barometer
- Invensense ICM-42688-P 6-Axis IMU

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# ARK RTK GPS L1 L5
[ARK RTK GPS L1 L5](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) is an open source [DroneCAN](index.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module), magnetometer, barometer, IMU, buzzer, and safety switch module.
![ARK RTK GPS L1 L5](../../assets/hardware/gps/ark/ark_rtk_gps_l1_l5.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-rtk-gps-l1-l5/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
- 传感器
- Ublox F9P GPS
- Multi-band GNSS receiver delivers centimetre level accuracy in seconds
- Concurrent reception of GPS, GLONASS, Galileo and BeiDou
- Multi-band RTK with fast convergence times and reliable performance
- High update rate for highly dynamic applications
- Centimetre accuracy in a small and energy efficient module
- Does not Support Moving Base for Heading
- Bosch BMM150 Magnetometer
- Bosch BMP388 Barometer
- Invensense ICM-42688-P 6-Axis IMU
- STM32F412CEU6 MCU
- Safety Button
- 蜂鸣器
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- F9P `UART 2` Connector
- 3 Pin JST GH
- TX, RX, GND
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- LED Indicators
- Safety LED
- GPS Fix
- RTK Status
- RGB system status
- USA Built
- Power Requirements
- 5V
- 170mA Average
- 180mA Max
## 硬件安装
### 布线
The ARK RTK GPS L1 L5 is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
### Mounting
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 centre of gravity, during [PX4 configuration](#px4-configuration).
## Firmware Setup
ARK RTK GPS L1 L5 runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
ARK RTK GPS L1 L5 boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
Firmware target: `ark_can-rtk-gps_default`
Bootloader target: `ark_can-rtk-gps_canbootloader`
## Flight Controller Setup
### Enabling DroneCAN
In order to use the ARK RTK GPS L1 L5, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
步骤如下：
- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
- Connect ARK RTK GPS L1 L5 CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
GPS data should arrive at 10Hz.
### PX4 配置
You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS L1 L5 from the vehicles centre of gravity.
### ARK RTK GPS L1 L5 Configuration
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself:
| 参数 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
### Setting Up Rover and Fixed Base
Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
PX4 DroneCAN parameters:
- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
:::info
Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
:::
For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
## LED含义
- The GPS status lights are located to the right of the connectors
- Blinking green is GPS fix
- Blinking blue is received corrections and RTK Float
- Solid blue is RTK Fixed
- The CAN status lights are located top the left of the connectors
- Slow blinking green is waiting for CAN connection
- Fast blinking green is normal operation
- Slow blinking green and blue is CAN enumeration
- Fast blinking blue and red is firmware update in progress
- Blinking red is error
- If you see a 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 RTK GPS L1 L5 has `ark_can-rtk-gps_canbootloader` installed prior to flashing `ark_can-rtk-gps_default`
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again
### Updating Ublox F9P Module
ARK RTK GPS L1 L5 comes with the Ublox F9P module up to date with version 1.13 or newer. However, you can check the version and update the firmware if desired.
步骤如下：
1. [Download u-center from u-blox.com](https://www.u-blox.com/en/product/u-center) and install on your PC (Windows only)
2. Open the [u-blox ZED-F9P website](https://www.u-blox.com/en/product/zed-f9p-module#tab-documentation-resources)
3. Scroll down and click on the "Show Legacy Documents" box
4. Scroll down again to Firmware Update and download your desired firmware (at least version 1.13 is needed)
5. While holding down the safety switch on the ARK RTK GPS L1 L5, connect it to power via one of its CAN ports and hold until all 3 LEDs blink rapidly
6. Connect the ARK RTK GPS L1 L5 to your PC via its debug port with a cable such as the Black Magic Probe or an FTDI
7. Open u-center, select the COM port for the ARK RTK GPS L1 L5 and connect
![U-Center Connect](../../assets/hardware/gps/ark/ark_rtk_gps_ucenter_connect.png)
8. Check the current firmware version by selecting View, Messages View, UBX, MON, VER
![Check Version](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_version.png)
9. To update the firmware:
1. Select Tools, Firmware Update
2. The Firmware image field should be the .bin file downloaded from the u-blox ZED-F9P website
3. Check the "Use this baudrate for update" checkbox and select 115200 from the drop-down
4. Ensure the other checkboxes are as shown below
5. Push the green GO button on the bottom left
6. "Firmware Update SUCCESS" should be displayed if it updated successfully
![Firmware Update](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_f9p_firmware_update.png)
## 另见
- [ARK RTK GPS L1 L5 Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) (ARK Docs)

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# ARK X20 RTK GPS
[ARK X20 RTK GPS](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) is an open source [DroneCAN](index.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox ZED-X20P all-band high precision GNSS module](https://www.u-blox.com/en/product/zed-x20p-module), magnetometer, barometer, IMU, buzzer, and safety switch module.
![ARK X20 RTK GPS](../../assets/hardware/gps/ark/ark_x20_rtk_gps.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-x20-rtk-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
- 传感器
- Ublox ZED-X20P
- All-band all constellation GNSS receiver
- Best position accuracy and availability in different environments
- RTK, PPP-RTK and PPP algorithms expanding the limits of performance
- Highest quality GNSS raw data
- u-blox end-to-end hardened security
- 25Hz update rate
- ST IIS2MDC Magnetometer
- Bosch BMP390 Barometer
- Invensense ICM-42688-P 6-Axis IMU
- STM32F412VGH6 MCU
- Safety Button
- 蜂鸣器
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- X20 “UART 2” Connector
- 4 Pin JST GH
- TX, RX, PPS, GND
- I2C Expansion Connector
- 4 Pin JST-GH
- 5.0V, SCL, SDA, GND
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- LED Indicators
- Safety LED
- GPS Fix
- RTK Status
- RGB system status
- USA Built
- Power Requirements
- 5V
- 144mA Average
- 157mA Max
## 硬件安装
### 布线
The ARK X20 RTK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
### Mounting
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 centre of gravity, during [PX4 configuration](#px4-configuration).
## Firmware Setup
ARK X20 RTK GPS runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
ARK X20 RTK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
Firmware target: `ark_can-rtk-gps_default`
Bootloader target: `ark_can-rtk-gps_canbootloader`
## Flight Controller Setup
### Enabling DroneCAN
In order to use the ARK X20 RTK GPS, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
步骤如下：
- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
- Connect ARK X20 RTK GPS CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
GPS data should arrive at 10Hz.
### PX4 配置
You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK X20 RTK GPS from the vehicles centre of gravity.
### ARK X20 RTK GPS Configuration
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself:
| 参数 | 描述 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
### Setting Up Rover and Fixed Base
Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
PX4 DroneCAN parameters:
- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
:::info
Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
:::
For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
## LED含义
- The GPS status lights are located to the right of the connectors
- Blinking green is GPS fix
- Blinking blue is received corrections and RTK Float
- Solid blue is RTK Fixed
- The CAN status lights are located top the left of the connectors
- Slow blinking green is waiting for CAN connection
- Fast blinking green is normal operation
- Slow blinking green and blue is CAN enumeration
- Fast blinking blue and red is firmware update in progress
- Blinking red is error
- If you see a 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 X20 RTK GPS has `ark_can-rtk-gps_canbootloader` installed prior to flashing `ark_can-rtk-gps_default`
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again
## 另见
- [ARK X20 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) (ARK Docs)

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@ -67,6 +67,8 @@ Supported hardware includes (this is not an exhaustive list):
- [RaccoonLab RM3100 Magnetometer](https://docs.raccoonlab.co/guide/gps_mag_baro/mag_rm3100.html)
- Distance sensors
- [ARK Dist](ark_dist.md)
- [Ark Dist MR](ark_dist_mr.md)
- [ARK Flow](ark_flow.md)
- [Ark Flow MR](ark_flow_mr.md)
- [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)

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- [Svehicle E2](../flight_controller/svehicle_e2.md)
- [ThePeach FCC-K1](../flight_controller/thepeach_k1.md)
- [ThePeach FCC-R1](../flight_controller/thepeach_r1.md)
- [X-MAV AP-H743-R1](../flight_controller/x-mav_ap-h743r1.md)

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## 访问链接
- [PX4 Autonomy Developer Kit](https://www.modalai.com/products/px4-autonomy-developer-kit)
- [Starling 2](https://www.modalai.com/products/starling-2)
- [Starling 2 MAX](https://www.modalai.com/products/starling-2-max)
- [Sentinel Development Drone powered by VOXL 2](https://www.modalai.com/pages/sentinel)

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# AP-H743-R1
<Badge type="tip" text="main (planned for: PX4 v1.17)" />
:::warning
PX4 does not manufacture this (or any) autopilot.
:::
The AP-H743-R1 is an advanced autopilot manufactured by X-MAV<sup>&reg;</sup>.
The autopilot is recommended for commercial system integration, but is also suitable for academic research and any other applications.
It brings you ultimate performance, stability, and reliability in every aspect.
![AP-H743-R1](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-main.png)
:::info
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::
### Processors & Sensors
- FMU Processor: STM32H743VIT6
- 32 Bit Arm® Cortex®-M7, 480MHz, 2MB flash memory, 1MB RAM
- IO Processor: STM32F103
- 32 Bit Arm® Cortex®-M3, 72MHz, 20KB SRAM
- On-board sensors
- Accel/Gyro: ICM-42688-P\*2(Version1), BMI270\*2(Version2)
- Mag: IST8310
- Barometer: DPS310(Version1),SPL06(Version2)
### 接口
- 15x PWM Servo Outputs
- 1x Dedicated S.Bus Input
- 3x TELEM Ports
- 1x SERIAL4 Port
- 2x GPS Ports
- 1x USB Port (TYPE-C)
- 3x I2C Bus Ports
- 2x CAN Ports
- 2x Power Input Ports
- ADC Power Input
- DroneCAN/UAVCAN Power Input
- 2x Dedicated Debug Port
- FMU Debug
- IO Debug
## Purchase Channels
Order from [X-MAV](https://www.x-mav.cn/).
## 遥控器
A Radio Control (RC) system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
将 <em>HW\\u PM</em> 模块的6针连接器连接到飞控的<code>电源</code>接口。
SBUS receivers connect to the SBUS-IN input port.
CRSF receiver must be wired to a spare port (UART) on the Flight Controller. Then you can bind the transmitter and receiver together.
## 串口映射
| UART | 设备 | Port |
| ------ | ---------- | ------- |
| USART1 | UART | GPS |
| USART2 | /dev/ttyS1 | GPS2 |
| USART3 | /dev/ttyS2 | TELEM1 |
| UART4 | /dev/ttyS3 | TELEM2 |
| UART7 | /dev/ttyS4 | TELEM3 |
| UART8 | /dev/ttyS5 | SERIAL4 |
## PWM Output
The AP-H743-R1 flight controller supports up to 15 PWM outputs.
The first 8 outputs (labelled M1 to M8) are controlled by a dedicated STM32F103 IOMCU controller.
The remaining 7 outputs (labelled A1 to A7) are the "auxiliary" outputs.
These are directly attached to the STM32H743 FMU controller .
The 15 PWM outputs are:
M1 - M8 are connected to the IOMCU.
A1 - A7 are connected to the FMU.
M1 - M8 support DShot and are in 3 groups:
- M1, M2 in group 1
- M3, M4 in group 2
- M5, M6, M7, M8 in group 3
The 7 FMU PWM outputs are in 3 groups:
- A1 - A4 are in one group.
- A5, A6 are in a 2nd group.
- A7 is in a 3nd group.
Channels within the same group need to use the same output rate.
If any channel in a group uses DShot then all channels in the group need to use DShot.
### Electrical data
- Voltage Ratings:
- Max input voltage: 5.4V
- USB Power Input: 4.75\~5.25V
- Servo Rail Input: 0\~9.9V
## Battery Monitoring
The board has connectors for 2 power monitors.
- POWER1 -- ADC
- POWER2 -- DroneCAN
The board is configure by default for a analog power monitor, and also has DroneCAN power monitor configured which is enabled.
## 编译固件
To [build PX4](../dev_setup/building_px4.md) for this target, execute:
```sh
make x-mav_ap-h743r1_default
```
## Pinouts and Size
![AP-H743-R1 pinouts](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-pinouts.png)
![AP-H743-R1](../../assets/flight_controller/x-mav_ap-h743r1/ap-h743r1-size.png)
## 支持的平台/机身
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos.
The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
## 调试接口
### SWD
The [SWD interface](../debug/swd_debug.md) operate on the **FMU-DEBUG** port (`FMU-DEBUG`).
The debug port (`FMU-DEBUG`) uses a [JST SM04B-GHS-TB](https://www.digikey.com/en/products/detail/jst-sales-america-inc/SM04B-GHS-TB/807788) connector and has the following pinout:
| 针脚 | 信号 | 电压 |
| ---- | ------------------------------ | --------------------- |
| 1（红） | 5V+ | +5V |
| 2 | FMU_SWDIO | +3.3V |
| 3 | FMU_SWCLK | +3.3V |
| 4（黑） | GND | GND |

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# ARK DAN GPS
[ARK DAN GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-dan-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox DAN-F10N GPS and industrial magnetometer.
![ARK DAN GPS](../../assets/hardware/gps/ark/ark_dan_gps.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-dan-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DAN_GPS)
- 传感器
- [u-blox DAN-F10N](https://www.u-blox.com/en/product/dan-f10n-module)
- L1/L5/E5a/B2a bands
- Consistently strong performance regardless of installation
- Integrated SAW-LNA-SAW for exceptional out-of-band jamming immunity
- u-blox F10 proprietary dual-band multipath mitigation technology
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
- Pixhawk Standard UART/I2C Connector (6 Pin JST SH)
- Power Requirements
- 5V
- 25mA Average
- 44mA Max
- LED Indicators
- GPS Fix
- USA Built
- NDAA Compliant
- 6 Pin Pixhawk Standard UART/I2C Cable
## 硬件设置
The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
It should be mounted front facing, as far away from the flight controller and other electronics as possible.
For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).
## PX4 配置
The module should be plug-n-play when used with the `GPS2` port on most flight controllers.
[Secondary GPS Configuration (UART)](../gps_compass/index.md#secondary-gps-configuration-uart) explains how you can configure the port if the GPS is not detected (note, that the configuration is the same, even if you are using GPS 2 as the primary compass).
## 针脚定义
### Pixhawk Standard UART/I2C Connector - 6 Pin JST-SH
| Pin Number | Signal Name | Voltage |
| ---------- | ----------- | -------------------- |
| 1 | 5V | 5.0V |
| 2 | RX | 3.3V |
| 3 | TX | 3.3V |
| 4 | SCL | 3.3V |
| 5 | SDA | 3.3V |
| 6 | GND | GND |
## 另见
- [ARK DAN GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/gps/ark-dan-gps) (ARK Docs)

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@ -1,6 +1,6 @@
# ARK SAM GPS
[ARK SAM GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps>) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
[ARK SAM GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
![ARK SAM GPS](../../assets/hardware/gps/ark/ark_sam_gps.jpg)

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@ -0,0 +1,61 @@
# ARK SAM GPS MINI
[ARK SAM GPS MINI](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
![ARK SAM GPS MINI](../../assets/hardware/gps/ark/ark_sam_gps_mini.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-sam-gps-mini/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_SAM_GPS/tree/main)
- 传感器
- [u-blox SAM-M10Q](https://www.u-blox.com/en/product/sam-m10q-module)
- Less than 38 mW power consumption without compromising GNSS performance
- Maximum position availability with 4 concurrent GNSS reception
- Advanced spoofing and jamming detection
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
- Pixhawk Standard UART/I2C Connector (6 Pin JST SH)
- Power Requirements
- 5V
- 15mA Average
- 20mA Max
- LED Indicators
- GPS Fix
- USA Built
- NDAA Compliant
- 6 Pin Pixhawk Standard UART/I2C Cable
## 硬件设置
The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
It should be mounted front facing, as far away from the flight controller and other electronics as possible.
For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).
## PX4 配置
The module should be plug-n-play when used with the `GPS2` port on most flight controllers.
[Secondary GPS Configuration (UART)](../gps_compass/index.md#secondary-gps-configuration-uart) explains how you can configure the port if the GPS is not detected (note, that the configuration is the same, even if you are using GPS 2 as the primary compass).
## 针脚定义
### Pixhawk Standard UART/I2C Connector - 6 Pin JST-SH
| Pin Number | Signal Name | Voltage |
| ---------- | ----------- | -------------------- |
| 1 | 5V | 5.0V |
| 2 | RX | 3.3V |
| 3 | TX | 3.3V |
| 4 | SCL | 3.3V |
| 5 | SDA | 3.3V |
| 6 | GND | GND |
## 另见
- [ARK SAM GPS MINI Documentation](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) (ARK Docs)

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@ -25,7 +25,9 @@ PX4 also supports [Real Time Kinematic (RTK)](../gps_compass/rtk_gps.md) and **P
| 设备 | GPS | 罗盘 | [CAN](../dronecan/index.md) | Buzzer / SafeSw / LED | 备注 |
| :----------------------------------------------------------- | :-------------------------: | :-------------------------: | :-------------------------: | :-------------------------: | :---------------------------------------------------------- |
| [ARK GPS](../dronecan/ark_gps.md) | M9N | BMM150 | &check; | &check; | + Baro, IMU |
| [ARK DAN GPS](../gps_compass/ark_dan_gps.md) | DAN-F10N | IIS2MDC | | &check; | |
| [ARK SAM GPS](../gps_compass/ark_sam_gps.md) | SAM-M10Q | IIS2MDC | | &check; | |
| [ARK SAM GPS MINI ](../gps_compass/ark_sam_gps_mini.md) | SAM-M10Q | IIS2MDC | | &check; | |
| [ARK TESEO GPS](../dronecan/ark_teseo_gps.md) | Teseo-LIV4F | BMM150 | &check; | &check; | + Baro, IMU |
| [Avionics Anonymous UAVCAN GNSS/Mag][avionics_anon_can_gnss] | SAM-M8Q | MMC5983MA | &check; | ✘ | |
| [CUAV NEO 3 GPS](../gps_compass/gps_cuav_neo_3.md) | M9N | IST8310 | | &check; | |

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@ -23,7 +23,9 @@ It also highlights devices that connect via the CAN bus, and those which support
| 设备 | GPS | 罗盘 | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK |
| :------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :-------------------------: | :------------------------------: | :-----------------------------------------------: | :-------------------------: |
| [ARK RTK GPS](../dronecan/ark_rtk_gps.md) | F9P | BMM150 | &check; | [Dual F9P][DualF9P] | |
| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md) | F9P | BMM150 | &check; | | |
| [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md) | Mosaic-X5 | IIS2MDC | &check; | [Septentrio Dual Antenna][SeptDualAnt] | |
| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md) | X20P | BMP390 | &check; | | |
| [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md) | M8P/M8N | &check; | | | |
| [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md) | F9P | &check; | | [Dual F9P][DualF9P] | |
| [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md) | F9P | RM3100 | | [Dual F9P][DualF9P] | |

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@ -332,7 +332,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
- [UXRCE_DDS_SYNCT](../advanced_config/parameter_reference.md#UXRCE_DDS_SYNCT): Bridge time synchronization enable.
The uXRCE-DDS client module can synchronize the timestamp of the messages exchanged over the bridge.
This is the default configuration. In certain situations, for example during [simulations](../ros2/user_guide.md#ros-gazebo-and-px4-time-synchronization), this feature may be disabled.
- [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
- <Badge type="tip" text="PX4 v1.17" /> [`UXRCE_DDS_NS_IDX`](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX): Index-based namespace definition
Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
@ -553,7 +553,7 @@ Each (`topic`,`type`) pairs defines:
4. The message type (`VehicleOdometry`, `VehicleStatus`, `OffboardControlMode`, etc.) and the ROS 2 package (`px4_msgs`) that is expected to provide the message definition.
5. **(Optional)**: An additional `rate_limit` field (only for publication entries), which specifies the maximum rate (Hz) at which messages will be published on this topic by PX4 to ROS 2.
If left unspecified, the maximum publication rate limit is set to 100 Hz.
6. **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
6. <Badge type="tip" text="main (planned for: PX4 v1.18)" /> **(Optional)**: An additional `instance` field (only for publication entries), which lets you select which instance of a [multi-instance topic](./uorb.md#multi-instance) you want to be published to ROS 2.
If provided, this option changes the ROS 2 topic name of the advertised uORB topic appending the instance number: `fmu/out/[uorb topic name][instance]` (plus eventual namespace and message version).
In the example above the final topic name would be `/fmu/out/vehicle_imu1`.

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@ -16,8 +16,6 @@ crsf_rc <command> [arguments...]
start
[-d <val>] RC device
values: <file:dev>, default: /dev/ttyS3
[-b <val>] RC baudrate
default: 420000
inject Inject frame data bytes (for testing)

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@ -7,7 +7,7 @@ Configurable overrides by (external) modes or mode executors
```c
# Configurable overrides by (external) modes or mode executors
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@ -15,7 +15,7 @@ bool disable_auto_disarm # Prevent the drone from automatically disarmin
bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared)
int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
bool disable_auto_set_home # Prevent the drone from automatically setting the home position on arm or takeoff
int8 SOURCE_TYPE_MODE = 0
int8 SOURCE_TYPE_MODE_EXECUTOR = 1

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# ConfigOverridesV0 (UORB message)
Configurable overrides by (external) modes or mode executors
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/ConfigOverridesV0.msg)
```c
# Configurable overrides by (external) modes or mode executors
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
bool disable_auto_disarm # Prevent the drone from automatically disarming after landing (if configured)
bool defer_failsafes # Defer all failsafes that can be deferred (until the flag is cleared)
int16 defer_failsafes_timeout_s # Maximum time a failsafe can be deferred. 0 = system default, -1 = no timeout
int8 SOURCE_TYPE_MODE = 0
int8 SOURCE_TYPE_MODE_EXECUTOR = 1
int8 source_type
uint8 source_id # ID depending on source_type
uint8 ORB_QUEUE_LENGTH = 4
# TOPICS config_overrides config_overrides_request
```

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@ -0,0 +1,12 @@
# GainCompression (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GainCompression.msg)
```c
uint64 timestamp # Time since system start (microseconds)
float32[3] compression_gains # [-] [@frame FRD] [@range 0, 1] Multiplicative gain to modify the output of the controller per axis
float32[3] spectral_damper_hpf # [-] [@frame FRD] Squared output of spectral damper high-pass filter
float32[3] spectral_damper_out # [-] [@frame FRD] Spectral damper output squared
```

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@ -3,7 +3,7 @@
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/versioned/RegisterExtComponentReply.msg)
```c
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@ -17,6 +17,8 @@ int8 arming_check_id # arming check registration ID (-1 if invalid)
int8 mode_id # assigned mode ID (-1 if invalid)
int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
bool not_user_selectable # mode cannot be selected by the user
uint8 ORB_QUEUE_LENGTH = 2
```

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@ -0,0 +1,22 @@
# RegisterExtComponentReplyV0 (UORB message)
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentReplyV0.msg)
```c
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 request_id # ID from the request
char[25] name # name from the request
uint16 px4_ros2_api_version
bool success
int8 arming_check_id # arming check registration ID (-1 if invalid)
int8 mode_id # assigned mode ID (-1 if invalid)
int8 mode_executor_id # assigned mode executor ID (-1 if invalid)
uint8 ORB_QUEUE_LENGTH = 2
```

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@ -7,7 +7,7 @@ Request to register an external component
```c
# Request to register an external component
uint32 MESSAGE_VERSION = 0
uint32 MESSAGE_VERSION = 1
uint64 timestamp # time since system start (microseconds)
@ -26,7 +26,7 @@ bool register_mode_executor # registering an executor also requires a mod
bool enable_replace_internal_mode # set to true if an internal mode should be replaced
uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
bool not_user_selectable # mode cannot be selected by the user
uint8 ORB_QUEUE_LENGTH = 2

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@ -0,0 +1,33 @@
# RegisterExtComponentRequestV0 (UORB message)
Request to register an external component
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/px4_msgs_old/msg/RegisterExtComponentRequestV0.msg)
```c
# Request to register an external component
uint32 MESSAGE_VERSION = 0
uint64 timestamp # time since system start (microseconds)
uint64 request_id # ID, set this to a random value
char[25] name # either the requested mode name, or component name
uint16 LATEST_PX4_ROS2_API_VERSION = 1 # API version compatibility. Increase this on a breaking semantic change. Changes to any message field are detected separately and do not require an API version change.
uint16 px4_ros2_api_version # Set to LATEST_PX4_ROS2_API_VERSION
# Components to be registered
bool register_arming_check
bool register_mode # registering a mode also requires arming_check to be set
bool register_mode_executor # registering an executor also requires a mode to be registered (which is the owned mode by the executor)
bool enable_replace_internal_mode # set to true if an internal mode should be replaced
uint8 replace_internal_mode # vehicle_status::NAVIGATION_STATE_*
bool activate_mode_immediately # switch to the registered mode (can only be set in combination with an executor)
uint8 ORB_QUEUE_LENGTH = 2
```

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@ -140,6 +140,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [FollowTargetEstimator](FollowTargetEstimator.md)
- [FollowTargetStatus](FollowTargetStatus.md)
- [FuelTankStatus](FuelTankStatus.md)
- [GainCompression](GainCompression.md)
- [GeneratorStatus](GeneratorStatus.md)
- [GeofenceResult](GeofenceResult.md)
- [GeofenceStatus](GeofenceStatus.md)
@ -305,9 +306,12 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [ArmingCheckReplyV0](ArmingCheckReplyV0.md)
- [ArmingCheckRequestV0](ArmingCheckRequestV0.md) — Arming check request.
- [BatteryStatusV0](BatteryStatusV0.md) — Battery status
- [ConfigOverridesV0](ConfigOverridesV0.md) — Configurable overrides by (external) modes or mode executors
- [EventV0](EventV0.md) — this message is required here in the msg_old folder because other msg are depending on it
Events interface
- [HomePositionV0](HomePositionV0.md) — GPS home position in WGS84 coordinates.
- [RegisterExtComponentReplyV0](RegisterExtComponentReplyV0.md)
- [RegisterExtComponentRequestV0](RegisterExtComponentRequestV0.md) — Request to register an external component
- [VehicleAttitudeSetpointV0](VehicleAttitudeSetpointV0.md)
- [VehicleLocalPositionV0](VehicleLocalPositionV0.md) — Fused local position in NED.
The coordinate system origin is the vehicle position at the time when the EKF2-module was started.

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@ -0,0 +1,56 @@
# ARK 12S Payload Power Module
The [ARK 12S Payload Power Module](https://arkelectron.com/product/ark-12s-payload-power-module/) is a dual 5V 6A and 12V 6A power supply and digital power monitor designed for the Pixhawk Autopilot Bus Carrier boards.
This is similar to the [ARK 12S PAB Power Module](../power_module/ark_12s_pab_power_module.md) except that the additional 12V 6A supply allows easier powering of a payload.
![ARK 12S Payload Power Module](../../assets/hardware/power_module/ark_power_modules//ark_12s_payload_power.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-12s-payload-power-module/) (US)
## Hardware Specifications
- **TI INA238 Digital Power Monitor**
- 0.0001 Ohm Shunt
- I2C Interface
- **5.2V 6A Step-Down Regulator**
- 10V Minimum Input Voltage at 6A Out
- Output Over-Current Protection
- **12.0V 6A Step-Down Regulator**
- 15V Minimum Input Voltage at 6A Out
- Output Over-Current Protection
- **75V Maximum Input Voltage**
- **Connections**
- Solder Pads Battery Input
- Solder Pads Battery Output
- 6 Pin Molex CLIK-Mate Output
- [Matches ARK PAB Carrier Power Pinout](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier/pinout)
- 4 Pin Molex CLIK-Mate 12V Output
- **Other**
- USA Built
- Includes 6 Pin Molex CLIK-Mate Cable
- **Additional Information**
- Weight: 20.5 g
- Dimensions: 3.7 cm x 3.5 cm x 1.3 cm
## PX4 Setup
- Disable the `SENS_EN_INA226` parameter if it is enabled.
- Enable the `SENS_EN_INA238` parameter.
- Reboot the flight controller.
- Set the `INA238_SHUNT` parameter to 0.0001.
- Reboot the flight controller.
## 另见
- [ARK 12S Payload Power Module Documentation](https://docs.arkelectron.com/power/ark-12s-payload-power-module) (ARK Docs)

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@ -6,35 +6,36 @@ Note that at 60A and 20°C without cooling, the 5V regulator is de-rated to a 3A
![ARK PAB Power Module](../../assets/hardware/power_module/ark_power_modules//ark_pab_power_module.jpg)
This power module is also available without connectors:
![ARK PAB Power Module No Connector](../../assets/hardware/power_module/ark_power_modules//ark_pab_power_no_connector.jpg)
## 购买渠道
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-pab-power-module/) (US)
- [ARK Electronics - ARK PAB Power Module](https://arkelectron.com/product/ark-pab-power-module/) (US)
- [ARK Electronics - ARK PAB Power Module No Connector](https://arkelectron.com/product/ark-pab-power-module-no-connector/) (US)
## Hardware Specifications
- **TI INA226 Digital Power Monitor**
- 0.0005 Ohm Shunt
- I2C Interface
- **5.2V 6A Step-Down Regulator**
- 33V Maximum Input Voltage
- 5.8V Minimum Input Voltage at 6A Out
- Output Over-Voltage Protection
- Output Over-Current Protection
- **Connections**
- XT60 Battery Input
- XT60 Battery Output
- XT60 Battery Input / Solder Pad Battery Input (No Connector version)
- XT60 Battery Output / Solder Pad Battery Output (No Connector version)
- 6 Pin Molex CLIK-Mate Output
- [Matches ARK PAB Carrier Power Pinout](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier/pinout)
- **Other**
- USA Built
- FCC Compliant
- Includes 6 Pin Molex CLIK-Mate Cable

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@ -27,6 +27,7 @@ This section provides information about a number of power modules and power dist
- Digital (I2C) voltage and current power modules (for Pixhawk FMUv6X and FMUv5X derived controllers):
- [ARK PAB Power Module](../power_module/ark_pab_power_module.md)
- [ARK 12S PAB Power Module](../power_module/ark_12s_pab_power_module.md)
- [ARK 12S Payload Power Module](../power_module/ark_12s_payload_power_module.md)
- [Holybro PM02D](../power_module/holybro_pm02d.md)
- [Holybro PM03D](../power_module/holybro_pm03d.md)
- [DroneCAN](../dronecan/index.md) power modules

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@ -15,11 +15,69 @@ This is a subset of the rangefinders that can be used with PX4.
There may also be other DroneCAN rangefinders than those listed here.
:::
### ARK Flow & AKR Flow MR
| Rangefinder | Technology | Range (min – max) | Connections | NDAA | 备注 |
| ------------------------------------------------------------------------- | ---------------------------------- | ------------------------------------------------------------------------------------------- | ----------------------------------------- | ----------------- | ------------------------------------------------------ |
| [Ainstein US-D1 Standard Radar Altimeter] | Microwave radar | ~50 m | UART | ✔️ | |
| [ARK DIST SR] | ToF (850 nm IR) | 8 cm to ~30 m | DroneCAN, UART | ✔️ | |
| [ARK DIST MR] | ToF (IR) | 8 cm to ~50 m | DroneCAN, UART | ✔️ | |
| [Benewake TFmini] | ToF (IR laser) | ~12 m | UART | ~ | |
| [Holybro ST VL53L1X Lidar] | ToF (IR) | up to ~4 m | I2C | ~ | |
| [LeddarOne] | ToF (IR) | 1 cm – 40 m | UART | ~ | |
| [Lidar-Lite] | ToF (IR laser) | 5 cm – 40 m | I2C, PWM | ~ | |
| [LightWare SF11/C] | ToF (IR laser) | up to ~120 m | UART, I2C | ~ | |
| [LightWare LW20/C] | ToF (IR laser) | up to ~100 m | I2C | ~ | Waterproof (IP67) + servo |
| [LightWare SF45/B] | ToF (IR laser) | ~50 m | UART | ~ | Rotary lidar (collision prevention) |
| [MaxBotix I2CXL-MaxSonar-EZ] | Ultrasonic | | I2C | ~ | |
| [RaccoonLab Cyphal & DroneCAN µRANGEFINDER] | ToF (IR) | ~0.1 m – ~8 m | DroneCAN, Cyphal | ~ | |
| [TeraRanger Evo 60 m] | ToF (IR) | 0.5 m – 60 m | I2C | ~ | |
| [TeraRanger Evo 600Hz] | ToF (IR) | 0.75 m – 8 m | I2C | ~ | High update rate (600 Hz) |
| [LightWare SF02] _(disc.)_ | ToF (IR laser) | ~50 m | UART | ~ | Discontinued |
| [LightWare SF10/A] _(disc.)_ | ToF (IR laser) | ~25 m | UART, I2C | ~ | Discontinued |
| [LightWare SF10/B] _(disc.)_ | ToF (IR laser) | ~50 m | UART, I2C | ~ | Discontinued |
| [LightWare SF10/C] _(disc.)_ | ToF (IR laser) | ~100 m | UART, I2C | ~ | Discontinued |
| [Lanbao PSK-CM8JL65-CC5] _(disc.)_ | ToF (IR) | 0.17 m – 8 m | UART | ✖️ | Discontinued |
| [TeraRanger One] _(disc.)_ | ToF (IR) | ~0.2 m – ~14 m (typical) | I2C (adapter required) | ~ | Discontinued |
[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
它可以通过CAN1接口连接至飞控，允许通过CAN2接口添加传感器。
It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.
[Ainstein US-D1 Standard Radar Altimeter]: ../sensor/ulanding_radar.md
[ARK DIST SR]: ../dronecan/ark_dist.md
[ARK DIST MR]: ../dronecan/ark_dist_mr.md
[Benewake TFmini]: ../sensor/tfmini.md
[Holybro ST VL53L1X Lidar]: #holybro-st-vl53l1x-lidar
[Lanbao PSK-CM8JL65-CC5]: ../sensor/cm8jl65_ir_distance_sensor.md
[LeddarOne]: ../sensor/leddar_one.md
[Lidar-Lite]: ../sensor/lidar_lite.md
[LightWare Lidar]: ../sensor/sfxx_lidar.md
[LightWare SF11/C]: ../sensor/sfxx_lidar.md
[LightWare LW20/C]: ../sensor/sfxx_lidar.md
[LightWare SF45/B]: ../sensor/sfxx_lidar.md
[LightWare SF02]: ../sensor/sfxx_lidar.md
[LightWare SF10/A]: ../sensor/sfxx_lidar.md
[LightWare SF10/B]: ../sensor/sfxx_lidar.md
[LightWare SF10/C]: ../sensor/sfxx_lidar.md
[MaxBotix I2CXL-MaxSonar-EZ]: #maxbotix-i2cxl-maxsonar-ez
[TeraRanger Evo 60 m]: ../sensor/teraranger.md
[TeraRanger Evo 600Hz]: ../sensor/teraranger.md
[TeraRanger One]: ../sensor/teraranger.md
These adaptors allows you to connect a non-CAN rangefinder via the CAN interface.
Note that the range depends on the connected rangefinder
| Adaptor | Connections | NDAA |
| ------------------------------------------------------- | ---------------- | ----------------- |
| **Avionics Anonymous UAVCAN Laser Altimeter Interface** | DroneCAN | ~ |
| [RaccoonLab Cyphal & DroneCAN Rangefinder Adapter] | DroneCAN, Cyphal | ~ |
[RaccoonLab Cyphal & DroneCAN µRANGEFINDER]: #raccoonlab-cyphal-and-dronecan-μrangefinder
[RaccoonLab Cyphal & DroneCAN Rangefinder Adapter]: #raccoonlab-cyphal-and-dronecan-rangefinder-adapter
Note that some [Optical Flow](../sensor/optical_flow.md) sensors also include a rangefinder, such as [ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md).
### ARK DIST SR & ARK DIST MR
[ARK DIST SR](../dronecan/ark_dist.md) and [ARK DIST MR](../dronecan/ark_dist_mr.md) are open-source Time-of-Flight (ToF) rangefinder modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
The sensors support [DroneCAN](../dronecan/index.md), run [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and are packed into a tiny form factor.
They can be connected to a flight controller via its `CAN1` port, allowing additional sensors to connected through the `CAN2` port.
### Holybro ST VL53L1X 激光雷达