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Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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docs/ko/dronecan/ark_cannode.md
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# ARK CANnode
[ARK CANnode](https://arkelectron.com/product/ark-cannode/) is an open source generic [DroneCAN](../dronecan/index.md) node that includes a 6 degree of freedom IMU.
Its main purpose is to enable the use of non-CAN sensors (I2C, SPI, UART) on the CAN bus.
It also has PWM outputs to expand a vehicle's control outputs in quantity and physical distance.
![ARK CANnode](../../assets/hardware/can_nodes/ark_cannode.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-cannode/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_CANNODE)
- 센서
- Bosch BMI088 6-Axis IMU or Invensense ICM-42688-P 6-Axis IMU
- STM32F412CGU6 MCU
- 1MB Flash
- Two Pixhawk Standard CAN Connectors
- 4 Pin JST GH
- Pixhawk Standard I2C Connector
- 4 Pin JST GH
- Pixhawk Standard UART/I2C Connector (Basic GPS Port)
- 6 Pin JST GH
- Pixhawk Standard SPI Connector
- 7 Pin JST GH
- PWM Connector
- 10 Pin JST JST
- 8 PWM Outputs
- Matches Pixhawk 4 PWM Connector Pinout
- Pixhawk Standard Debug Connector
- 6 Pin JST SH
- Small Form Factor
- 3cm x 3cm x 1.3cm
- LED Indicators
- USA Built
- Power Requirements
- 5V
- Current dependent on connected peripherals
## 하드웨어 설정
### 배선
The ARK CANnode 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.
## Firmware Setup
ARK CANnode 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).
ARK CANnode boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
- Firmware target: `ark_cannode_default`
- Bootloader target: `ark_cannode_canbootloader`
## Flight Controller Configuration
### Enable DroneCAN
In order to use the ARK CANnode board, 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)).
단계는 다음과 같습니다:
- 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 CANnode CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
### Enable Sensors
You will need to enable the subscriber appropriate for each of the sensors that are connected to the ARK CANnode.
This is done using the the parameters named like `UAVCAN_SUB_*` in the parameter reference (such as [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD), [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO) etc.).
## Ark CANNode Configuration
On the ARK CANnode, you may need to configure the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
## LED 신호의 의미
You will see both red and blue LEDs on the ARK CANnode 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 CANnode has `ark_cannode_canbootloader` installed prior to flashing `ark_cannode_default`.
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
## See Also
- [ARK CANnode Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-cannode) (ARK Docs)
docs/ko/dronecan/ark_flow.md
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# ARK Flow
ARK Flow is an open source [DroneCAN](index.md) [optical flow](../sensor/optical_flow.md), [distance sensor](../sensor/rangefinders.md), and IMU module.
![ARK Flow](../../assets/hardware/sensors/optical_flow/ark_flow.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-flow/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_Flow)
- 센서
- 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
## 하드웨어 설정
### 배선
The ARK Flow 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.
### 장착
The recommended mounting orientation is with the connectors on the board pointing towards **back of vehicle**, as shown in the following picture.
![ARK Flow align with Pixhawk](../../assets/hardware/sensors/optical_flow/ark_flow_orientation.png)
This corresponds to the default value (`0`) of the parameter [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT).
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 [PX4 configuration](#px4-configuration).
## Firmware Setup
ARK Flow 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).
ARK Flow boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
- Firmware target: `ark_can-flow_default`
- Bootloader target: `ark_can-flow_canbootloader`
## Flight Controller Setup
:::info
The Ark Flow will not boot if there is no SD card in the flight controller when powered on.
:::
### Enable DroneCAN
단계는 다음과 같습니다:
- 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 Flow CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
Flow data should arrive at 100Hz.
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).
### PX4 설정
First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
Then set the EKF optical flow parameters to enable fusing optical flow measurements for velocity calculation, and define offsets if the sensor is not centred within the vehicle.
Set the following parameters in _QGroundControl_:
- Enable optical flow fusion by setting [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL).
- To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
- Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
- 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 `10`.
- 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`.
- Set [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) to `0.08`.
- Set [SENS_FLOW_MAXHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MAXHGT) to `25`.
- Set [SENS_FLOW_MAXR](../advanced_config/parameter_reference.md#SENS_FLOW_MAXR) to `7.4` to match the PAW3902 maximum angular flow rate.
- The parameters [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X), [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) and [EKF2_OF_POS_Z](../advanced_config/parameter_reference.md#EKF2_OF_POS_Z) can be set to account for the offset of the Ark Flow from the vehicle centre of gravity.
When optical flow is the only source of horizontal position/velocity, then lowering the gain for controller response to horizontal position error [MPC_XY_P](../advanced_config/parameter_reference.md#MPC_XY_P) (e.g. to 0.5) is recommended to reduce oscillations.
## Ark Flow Configuration
On the ARK Flow, you may need to configure the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
## LED 신호의 의미
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_canbootloader` installed prior to flashing `ark_can-flow_default`.
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
## 비디오
<lite-youtube videoid="SAbRe1fi7bU" params="list=PLUepQApgwSozmwhOo-dXnN33i2nBEl1c0" title="ARK Flow Indoor Position Hold x64"/>
<!-- ARK Flow with PX4 Optical Flow Position Hold: 20210605 -->
_PX4 holding position using the ARK Flow sensor for velocity estimation (in [Position Mode](../flight_modes_mc/position.md))._
## See Also
- [ARK Flow](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-flow) (ARK Docs)
docs/ko/dronecan/ark_flow_mr.md
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# ARK Flow MR
ARK Flow MR ("Mid Range") is an open source [DroneCAN](index.md) [optical flow](../sensor/optical_flow.md), [distance sensor](../sensor/rangefinders.md), and IMU module.
It is the next generation of the [Ark Flow](ark_flow.md), designed for mid-range applications.
![ARK Flow MR](../../assets/hardware/sensors/optical_flow/ark_flow_mr.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-flow-mr/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_Flow_MR)
- 센서
- PixArt PAA3905 Optical Flow Sensor
- Auto detection of challenging conditions, such as checker boards, stripes, glossy surface and yawing
- Wide working range from 80mm up to infinity
- Automatic switching of Operation Mode
- 40mW IR LED built onto board for improved low light operation
- Broadcom AFBR-S50LX85D Time-of-Flight Distance Sensor
- Laser Opening Angle of 2° x 2°
- Typical distance range up to 50m
- Operation in up to 200 kilolux ambient light
- Works well on all surface conditions
- Invensense IIM-42653 6-Axis IMU
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- Software controlled built-in CAN termination resistor via node parameter (CANNODE_TERM)
- Small Form Factor
- 3cm x 3cm x 1.4cm
- LED Indicators
- USA Built
## 하드웨어 설정
### 배선
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 [CAN Wiring](../can/index.md#wiring) instructions.
### 장착
The recommended mounting orientation is with the connectors on the board pointing towards **back of vehicle**, as shown in the following picture.
![ARK Flow MR align with Pixhawk](../../assets/hardware/sensors/optical_flow/ark_flow_orientation.png)
This corresponds to the default value (`0`) of the parameter [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT).
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 [PX4 configuration](#px4-configuration).
## Firmware Setup
ARK Flow 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).
ARK Flow MR boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
- Firmware target: `ark_can-flow-mr_default`
- Bootloader target: `ark_can-flow-mr_canbootloader`
## Flight Controller Setup
:::info
The Ark Flow MR will not boot if there is no SD card in the flight controller when powered on.
:::
### Enable DroneCAN
단계는 다음과 같습니다:
- 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 Flow MR CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
Flow data should arrive at 100Hz.
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).
### PX4 설정
You need to set the EKF optical flow parameters to enable fusing optical flow measurements for velocity calculation, set necessary [DroneCAN](index.md) parameters, and define offsets if the sensor is not centred within the vehicle.
Set the following parameters in _QGroundControl_:
- Enable optical flow fusion by setting [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL).
- To optionally disable GPS aiding, set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
- Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
- 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 `10`.
- 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`.
- Set [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) to `0.08`.
- Set [SENS_FLOW_MAXHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MAXHGT) to `25`.
- Set [SENS_FLOW_MAXR](../advanced_config/parameter_reference.md#SENS_FLOW_MAXR) to `7.4` to match the PAW3902 maximum angular flow rate.
- The parameters [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X), [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) and [EKF2_OF_POS_Z](../advanced_config/parameter_reference.md#EKF2_OF_POS_Z) can be set to account for the offset of the Ark Flow MR from the vehicle centre of gravity.
## Ark Flow MR Configuration
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK Flow MR itself:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------- | --------------------------------------------- |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. |
## LED 신호의 의미
You will see both red and blue LEDs on the ARK Flow MR 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 MR has `ark_can-flow-mr_canbootloader` installed prior to flashing `ark_can-flow-mr_default`.
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
## 비디오
<lite-youtube videoid="SAbRe1fi7bU" params="list=PLUepQApgwSozmwhOo-dXnN33i2nBEl1c0" title="ARK Flow Indoor Position Hold x64"/>
<!-- ARK Flow MR with PX4 Optical Flow Position Hold: 20210605 -->
_PX4 holding position using the ARK Flow MR sensor for velocity estimation (in [Position Mode](../flight_modes_mc/position.md))._
## See Also
- [ARK Flow MR](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-flow-mr) (ARK Docs)
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# ARK GPS (DroneCAN)
ARK GPS is an open source [DroneCAN](index.md) [GNSS/GPS](../gps_compass/index.md), magnetometer, IMU, barometer, buzzer, and safety switch module.
![ARK GPS](../../assets/hardware/gps/ark/ark_gps.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_GPS)
- 센서
- Ublox M9N GPS
- Ultra-robust meter-level GNSS positioning
- Maximum position availability with concurrent reception of 4 GNSS
- Advanced spoofing and jamming detection
- Excellent RF interference mitigation
- Bosch BMM150 Magnetometer
- Bosch BMP388 Barometer
- Invensense ICM-42688-P 6-Axis IMU
- STM32F412CEU6 MCU
- Safety Button
- 부저
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- Small Form Factor
- 5cm x 5cm x 1cm
- LED Indicators
- Safety LED
- GPS Fix
- RGB System Status
- USA Built
- Power Requirements
- 5V
- 110mA Average
- 117mA Max
## 하드웨어 설정
### 배선
The ARK 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.
### 장착
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 GPS runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
As such, it supports firmware update over the CAN bus and [dynamic node allocation](../dronecan/index.md#node-id-allocation).
ARK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
- Firmware target: `ark_can-gps_default`
- Bootloader target: `ark_can-gps_canbootloader`
## PX4 설정
You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle.
The required settings are outlined below.
:::info
The ARK GPS will not boot if there is no SD card in the flight controller when powered on.
:::
### Enable DroneCAN
In order to use the ARK GPS board, 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)).
단계는 다음과 같습니다:
- 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 GPS CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
GPS data should arrive at 10Hz.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
### Sensor Position Configuration
If the sensor is not centred within the vehicle you will also need to define sensor offsets:
- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
- 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).
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
- 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 GPS from the vehicles centre of gravity.
## LED 신호의 의미
You will see green, blue and red LEDs on the ARK GPS when it is being flashed, and a blinking green LED if it is running properly.
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 GPS has `ark_can-gps_canbootloader` installed prior to flashing `ark_can-gps_default`.
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
## See Also
- [ARK GPS](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-gps) (ARK Docs)
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# ARK MOSAIC-X5 RTK GPS
[ARK MOSAIC-X5 RTK GPS](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-mosaic-x5-rtk-gps) is a made in the USA [DroneCAN](index.md) module featuring the Septentrio Mosaic-X5 RTK GPS, magnetometer, barometer, IMU, buzzer, and safety switch.
![ARK MOSAIC-X5 RTK GPS](../../assets/hardware/gps/ark/ark_mosaic_rtk_gps.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-mosaic-x5-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_MosaicX5_GPS)
- 센서
- [Septentrio Mosaic-X5 GPS](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-x5)
- Triple Band L1/L2/L5
- [AIM+ jamming protection](https://www.septentrio.com/en/learn-more/advanced-positioning-technology/aim-anti-jamming-protection)
- Update rate of 100 Hz
- ST IIS2MDC Magnetometer
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html)
- [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
- STM32F412VGH6 MCU
- 연결
- Two Pixhawk Standard CAN Connectors (4 Pin JST-GH, 5V Input)
- Pixhawk Standard "Basic GPS Port" (6 pin JST-GH, supports `USART3` and I2C2 for external sensors like airspeed or distance)
- Pixhawk Standard Debug Connector (6 Pin JST-SH)
- USB-C Port (5V Input, USB 2.0 to Mosaic-X5)
- Micro-SD Slot for Mosaic-X5 Logging
- Mosaic "UART 2" Connector (5 Pin JST-GH with TX, RX, TIMEPULSE, GP1, GND)
- Power Requirements
- 5V
- 260mA Average
- 340mA Peak
- LED Indicators
- Safety LED
- GPS Fix
- RTK Status
- RGB System Status LED
- 추가 정보
- Includes 4 Pin Pixhawk Standard CAN Cable
- Triple Band (L1/L2/L5) Helical GPS Antenna
- USA Built
- Supports DroneCAN Firmware Updating
## See Also
- [ARK MOSAIC-X5 RTK GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-mosaic-x5-rtk-gps) (ARK Docs)
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# ARK RTK GPS
[ARK RTK GPS](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](../../assets/hardware/gps/ark/ark_rtk_gps.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-rtk-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
- 센서
- 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
- Bosch BMM150 Magnetometer
- Bosch BMP388 Barometer
- Invensense ICM-42688-P 6-Axis IMU
- STM32F412CEU6 MCU
- Safety Button
- 부저
- 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
## 하드웨어 설정
### 배선
The ARK 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.
### 장착
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 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 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, 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)).
단계는 다음과 같습니다:
- 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 CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
GPS data should arrive at 10Hz.
### PX4 설정
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 from the vehicles centre of gravity.
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` on the GPS if this it that last node on the CAN bus.
### Setting Up Moving Baseline & GPS Heading
The simplest way to set up moving baseline and GPS heading with two ARK RTK GPS modules is via CAN, though it can be done via UART to reduce traffic on the CAN bus if desired.
Note that a heading is only output if the Rover is in RTX Fixed mode. It will not output a heading in RTK Float.
Setup via CAN:
- Ensure the ARK RTK GPS modules are connected to the Pixhawk via CAN (one can connect to another's secondary CAN port). The two ARK RTK GPS must be connected to the same CAN bus for corrections to be sent.
- Choose one ARK RTK GPS to be the _Rover_ and one to be the _Moving Base_.
- Reopen QGroundControl, go to parameters, and select `Standard` to hide that dropdown and select `Component ##` to view each of your ARK RTK GPS's CAN node parameters
::: info
`Component ##` won't be visible unless the ARK RTK GPS is connected to the Pixhawk prior to opening QGroundControl.
:::
- On the _Rover_, set the following:
- [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `3`
- [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to `0` if your _Rover_ is in front of your _Moving Base_, `90` if _Rover_ is right of _Moving Base_, `180` if _Rover_ is behind _Moving Base_, or `270` if _Rover_ is left of _Moving Base_.
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) to `1`.
- On the _Moving Base_, set the following:
- [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `4`.
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) to `1`.
Setup via UART:
- Ensure the ARK RTK GPS modules are connected to the Pixhawk via CAN.
- Ensure the ARK RTK GPS modules are connected to each other via their UART2 port (UART2 pinout shown below).
Note that TX of one module needs to connect with RX of the other.
| 핀 | 명칭 |
| - | --- |
| 1 | TX |
| 2 | RX |
| 3 | GND |
- On the _Rover_, set the following:
- [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `1`
- [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to `0` if your _Rover_ is in front of your _Moving Base_, `90` if _Rover_ is right of _Moving Base_, `180` if _Rover_ is behind _Moving Base_, or `270` if _Rover_ is left of _Moving Base_.
- On the _Moving Base_, set the following:
- [GPS_UBX_MODE](../advanced_config/parameter_reference.md#GPS_UBX_MODE) to `2`.
## LED 신호의 의미
- 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
- Slow blinking green, 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 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 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.
단계는 다음과 같습니다:
- [Download u-center from u-blox.com](https://www.u-blox.com/en/product/u-center) and install on your PC (Windows only)
- Open the [u-blox ZED-F9P website](https://www.u-blox.com/en/product/zed-f9p-module#tab-documentation-resources)
- Scroll down and click on the "Show Legacy Documents" box
- Scroll down again to Firmware Update and download your desired firmware (at least version 1.13 is needed)
- While holding down the safety switch on the ARK RTK GPS, connect it to power via one of its CAN ports and hold until all 3 LEDs blink rapidly
- Connect the ARK RTK GPS to your PC via its debug port with a cable such as the Black Magic Probe or an FTDI
- Open u-center, select the COM port for the ARK RTK GPS and connect
![U-Center Connect](../../assets/hardware/gps/ark/ark_rtk_gps_ucenter_connect.png)
- 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)
- To update the firmware:
- Select Tools, Firmware Update
- The Firmware image field should be the .bin file downloaded from the u-blox ZED-F9P website
- Check the "Use this baudrate for update" checkbox and select 115200 from the drop-down
- Ensure the other checkboxes are as shown below
- Push the green GO button on the bottom left
- "Firmware Update SUCCESS" should be displayed if it updated successfully
![Firmware Update](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_f9p_firmware_update.png)
## See Also
- [ARK RTK GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) (ARK Docs)
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# ARK TESEO GPS
[ARK TESEO GPS](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-teseo-gps) is a made in the USA and NDAA-compliant [DroneCAN](index.md) [GNSS/GPS](../gps_compass/index.md) L1/L5 GPS, magnetometer, barometer, IMU, and buzzer module.
![ARK TESEO GPS](../../assets/hardware/gps/ark/ark_teseo_gps.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-teseo-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_Teseo_GPS)
- 센서
- [ST TESEO LIV4F GPS](https://www.st.com/en/positioning/teseo-liv4f.html)
- L1/L5 bands
- Simultaneous multi-constellation and multi-band GNSS (GPS, Galileo, GLONASS, BeiDou, QZSS)
- IRNSS constellation ready
- -162 dBm tracking sensitivity
- Submeter positioning accuracy
- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/pressure-sensors-bmp390.html)
- [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
- STM32F412VGH6 MCU
- Dual Band (L1/L5) Helical GPS Antenna
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- I2C and Timepulse/PPS Connector (5 Pin JST GH)
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- Power Requirements
- 5V
- 137mA
- LED Indicators
- GPS Fix
- RGB Status
- USA Built
- NDAA Compliant
## 핀배열
### CAN - 4 Pin JST-GH
| Pin Number | Signal Name | 전압 |
| ---------- | -------------------------- | -------------------- |
| 1 | 5V | 5.0V |
| 2 | CAN_P | 5.0V |
| 3 | CAN_N | 5.0V |
| 4 | GND | GND |
### I2C + Timepulse - 5 Pin JST-GH
| Pin Number | Signal Name | 전압 |
| ---------- | --------------------------------------------------- | -------------------- |
| 1 | 5.0V Out (500mA) | 5.0V |
| 2 | I2C2_SCL | 3.3V |
| 3 | I2C2_SDA | 3.3V |
| 4 | TIMEPULSE | 3.3V |
| 5 | GND | GND |
### Debug - 6 Pin JST-SH
| Pin Number | Signal Name | 전압 |
| ---------- | ------------------------------ | -------------------- |
| 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 |
## See Also
- [ARK TESEO GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-teseo-gps) (ARK Docs)
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# Avionics Anonymous Laser Altimeter DroneCan Interface
:::info
In 2022, UAVCAN (v0) was forked and is maintained as `DroneCAN`.
While this product still mentions "UAVCAN", it is fully compatible with PX4's DroneCAN support.
:::
The [Avionics Anonymous Laser Altimeter Interface](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/) allows a [number of common rangefinders](#supported_rangefinders) to be connected via the CAN bus (this is a more robust interface than I2C).
![Avionics Anonymous Laser Altimeter DroneCAN Interface](../../assets/hardware/sensors/avionics_anon_uavcan_alt_interface/avionics_anon_altimeter_uavcan_interface.jpg)
## 구매처
- [AvAnon Laser Interface](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/)
<a id="supported_rangefinders"></a>
## 지원되는 거리 측정기
A full list of supported rangefinders can be found on the link above.
At time of writing the following rangefinders are supported:
- Lightware SF30/D
- Lightware SF10/a
- Lightware SF10/b
- Lightware SF10/c
- Lightware SF11/c
- Lightware SF/LW20/b
- Lightware SF/LW20/c
## 하드웨어 설정
### 배선
The rangefinder (laser) is connected to the AvAnon interface board, which is connected to one of the CAN ports on your autopilot.
The wiring is as per the pinout above, or the necessary cables can be purchased to connect to your system right out of the box.
These are available at the links [here](https://www.tindie.com/products/avionicsanonymous/uavcan-laser-altimeter-interface/).
The interface board provides a filtered power output for the laser, but does not provide its own regulation.
Therefore the laser must be compatible with whatever voltage is supplied to the board.
### 핀배열
### CAN Connector
| 핀 | 명칭 | 설명 |
| - | ----------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- |
| 1 | POWER_IN | Power Supply. 4.0-5.5V supported, but must also be compatible with connected laser. |
| 2 | TX/SCL | TX for serial mode, Clock for I2C mode. |
| 3 | RX/SDA | RX for serial mode, Data for I2C mode. |
| 4 | GND | 신호/전원 접지. |
### Laser Connector
| 핀 | 명칭 | 설명 |
| - | ------------------------------ | ------------------------------------------------------- |
| 1 | POWER_OUT | Filtered power at the supply voltage. |
| 2 | CAN+ | TX for serial mode, Clock for I2C mode. |
| 3 | RX/SDA | RX for serial mode, Data for I2C mode. |
| 4 | GND | 신호/전원 접지. |
## PX4 설정
To enable the laser altimeter you will need to [set the following parameters](../advanced_config/parameters.md) (in QGroundControl):
- Enable DroneCAN by setting [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) non zero.
- Enable DroneCAN rangefinder subscription by setting [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG)
- Set the minimum and maximum range of the rangefinder using [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) and [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX).
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# CAUV CAN PMU
CAN PMU<sup>&reg;</sup> is a high-precision [DroneCAN](index.md) power module developed by CUAV<sup>&reg;</sup>.
It runs the CUAV ITT compensation algorithm, which enables drones to get the battery data more accurately.
![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu.jpg)
It is recommended for use in large commercial vehicles, but might also be used for research vehicles.
## 구매처
- [CUAV store](https://store.cuav.net/index.php)
- [CUAV aliexpress ](https://www.aliexpress.com/item/4000369700535.html)
## Hardware Specifications
- **Processor:** STM32F412
- **Voltage input**: 6~62V\(2-15S\)
- **Max current:** 110A
- **Voltage accuracy:** ±0.05V
- **Current accuracy:** ±0.1A
- **Resolution:** 0.01A/V
- **Max output power:** 6000W/90S
- **Max stable power:** 5000W
- **Power port output:** 5.4V/5A
- **Operating temp:** -20~+100
- **Firmware upgrade:** Supported.
- **Calibration:** Not needed.
- **Interface Type:**
- **IN/OUT:** XT90\(Cable）/Amass 8.0\(Module）
- **Power port:** 5025850670
- **CAN:** GHR-04V-S
- **Appearance:**
- **Size:** 46.5mm \* 38.5mm \* 22.5mm
- **Weight:** 76g
## 하드웨어 설정
### Package Contents
![CAN PMU list](../../assets/hardware/power_module/cuav_can/can_pmu_list.png)
### 핀배열
![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_pinouts_en.png)
![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_pinouts_en2.png)
## 배선
![CAN PMU](../../assets/hardware/power_module/cuav_can/can_pmu_connection_en.png)
The connection steps are:
- Connect the flight control CAN1/2 and the module CAN interface.
- Connect the V5 series power cable to the V5 Flight Control Power2 (if other flight controllers are connect to the Power interface) and the module Power interface.
## Flight Controller Setup
Set the following parameters in _QGroundControl_ [Vehicle Setup > Parameters](../advanced_config/parameters.md) and then restart:
- [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE): set to: _Sensors Automatic Config_
![qgc set](../../assets/hardware/power_module/cuav_can/qgc_set_en.png)
- [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT): set to: _Raw data_
![QGC - Set UAVCAN\_SUB\_BAT parameter to raw data](../../assets/hardware/power_module/cuav_can/qgc_set_usavcan_sub_bat.png)
## 추가 정보
[CAN PMU Manual](http://manual.cuav.net/power-module/CAN-PMU.pdf)
[CAN PMU Power detection module > Enable CAN PMU > PX4 firmware](http://doc.cuav.net/power-module/can-pmu/en/) (CUAV docs)
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# DroneCAN Development
:::info
This article is a stub.
Additional documentation on how to use Babel/other SLCAN adapters, the DroneCAN GUI tool, and PX4's upcoming slcan passthrough is coming soon.
:::
## Debugging with Zubax Babel
A great tool to debug the transmission on the CAN bus is the [Zubax Babel](https://zubax.com/products/babel) in combination with the [GUI tool](http://dronecan.github.io/GUI_Tool/Overview/).
They can also be used independently from Pixhawk hardware in order to test a node or manually control DroneCAN enabled ESCs.
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# DroneCAN ESCs
PX4 supports DroneCAN compliant ESCs.
For more information, see the following articles for specific hardware/firmware:
- [PX4 Sapog ESC Firmware](sapog.md)
- [Zubax Orel 20/21](zubax_orel.md)
- [Holybro Kotleta 20](holybro_kotleta.md)
- [Zubax Telega](zubax_telega.md)
- [Vertiq](../peripherals/vertiq.md) (larger modules)
- [VESC Project](../peripherals/vesc.md)
- [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)
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# Holybro H-RTK ZED-F9P RTK Rover (DroneCAN variant)
The [H-RTK ZED-F9P Rover](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover) RTK GNSS is an upgraded version of the original [H-RTK F9P Rover](../gps_compass/rtk_gps_holybro_h-rtk-f9p.md).
:::tip
This topic covers the [DroneCAN](../dronecan/#enabling-dronecan) variant of the module.
Variants of this module also exist with connectors for the `GPS1` and `GPS2 UART` ports.
Setup for these is covered in [RTK GNSS](../gps_compass/rtk_gps.md#positioning-setup-configuration).
:::
This RTK GNSS features the U-Blox ZED-F9P GNSS receiver, RM3100 Compass, and a tri-coloured LED indicator, providing precise positioning and orientation data.
The DroneCAN variant includes additional MCU, IMU, and barometer sensors.
It also has an IP66 rating, which makes it suitable for challenging environments that require robust protection against dust and water.
![Holybro ZED-F9P](../../assets/hardware/gps/holybro_h_rtk_zed_f9p_rover/holybro_f9p_gps.png)
This RTK GNSS offers multi-band RTK capabilities with rapid convergence times and consistent performance.
It supports concurrent reception of GPS (L1 & L2), GLONASS, Galileo, and BeiDou signals, ensuring reliable and precise positioning.
It delivers centimetre-level accuracy with the use of a base station or NTRIP service.
The high-precision PNI RM3100 compass ensures accurate orientation and stability, offering exceptional reliability, making it ideal for demanding UAV applications. It provides high resolution, low power consumption, large signal noise immunity, a large dynamic range, and high sampling rates. Its measurements are stable over temperature and inherently free from offset drift.
## 구매처
- [Holybro](https://holybro.com/collections/h-rtk-gps/products/h-rtk-zed-f9p-rover)
## Hardware Specifications
- 센서
- Ublox ZED-F9P GPS
- Centimetre-level accuracy RTK positioning
- IP66 Dust and Water Resistant
- EMI Shielding for more accurate GNSS performance
- Out of the box moving baseline support
- RM3100: High-precision low-noise compass
- DroneCAN sensors (additional sensors in DroneCAN variant)
- MCU: STM32G4
- IMU: Invensense ICM-42688
- Barometer: ICP20100
- Two JST GH CAN connectors (via pigtail)
- LED Indicators
- Tri-coloured LED indicator
- Key Specifications
- Working Temperature: -40C to 85C
- Input power: 4.75-5.25V
- Current Consumption: 250 mA
- Weight: 117 grams
## 하드웨어 설정
### 배선
The Holybro ZED-F9P 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.
For dual F9P setups leveraging GPS yaw, connect both F9P CAN connectors to the same bus via a CAN or I2C expansion splitter or [hub](https://holybro.com/products/can-hub?_pos=1&_sid=eeb6b74b2&_ss=r).
## Firmware Setup
Holybro ZED-F9P GPS boards ship with "AP Periph" (Ardupilot DroneCAN firmware) already installed.
To update the "AP Periph" firmware to the latest version:
1. [Download the latest binary](https://firmware.ardupilot.org/AP_Periph/latest/HolybroG4_GPS/).
2. Update the firmware using either of the following approaches:
- Using ArduPilot:
1. Install _Ardupilot_ firmware on your flight controller and the Mission Planner GCS on your computer.
2. Update the binary by following the instructions in the [DroneCAN FW Upgrade](https://docs.holybro.com/gps-and-rtk-system/zed-f9p-h-rtk-series/dronecan-fw-upgrade) guide.
- Use a serial-to-can converter (such as the [Zubax Babel](https://github.com/Zubax/canface_cf1?tab=readme-ov-file)) and the [DroneCAN GUI Tool](https://dronecan.github.io/Implementations/Libuavcan/Tutorials/11._Firmware_update/).
Remember to change the firmware on the flight controller back to PX4 afterwards.
### Enable DroneCAN
In order to use the Holybro ZED-F9P GPS board, 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)).
단계는 다음과 같습니다:
1. 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)).
2. Connect Holybro ZED-F9P GPS CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot and assigned a dynamic node ID via PX4.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
### Sensor Position Configuration
- For the the single Rover the module should be mounted with the included mast.
- For the Dual ZED-F9P setup (moving baseline), the DroneCAN modules should be placed at least 30cm apart on the airframe and elevated on a mast also.
See the following [mast](https://holybro.com/products/30-antenna-mount?_pos=20&_sid=67b49d76b&_ss=r).
- F9P module arrow(s) should be pointing forward with respect to the autopilot orientation.
## Dual ZED-F9P DroneCAN Modules For Heading
In order to use dual ZED-F9P GPS heading in PX4, follow these steps:
1. Open the QGroundControl parameters page.
2. On the left side next to the parameters list, double-click on the _System_ section (this hides the section).
3. Components should be visible on the left panel.
Click on the first `_Component_<ID#>` that maps to the ZED-F9P DroneCAN node (below shown as _Component 124_).
4. Click on the _GPS_ subsection and configure the parameters listed below:
- `GPS_TYPE`: Either set to `17` for moving baseline _base_, or set to `18` to be the moving baseline _rover_.
One F9P MUST be _rover_, and the other MUST be _base_.
- `GPS_AUTO_CONFIG`: set to 1 for both the rover and base
- `GPS_POS_X`, `GPS_POS_Y`, `GPS_POS_Z`: This is the antenna placement, which for the F9P is internal to the module.
This is the local offset (FRD) with respect to the autopilot.
![QGC Setup](../../assets/hardware/gps/holybro_h_rtk_zed_f9p_rover/holybro_f9p_gps_qgc_setup.png)
Then in order to enable the subscription in DroneCAN, enable the following PX4 autopilot params:
- [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE): Set to `1` to enable DroneCAN in PX4
- [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL): Set to `15` to enable Dual antenna heading.
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R): Set to `1` to enable subscription to GNSS relative.
- [EKF2_GPS_YAW_OFF](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET): Set to the clockwise angle (degrees) corresponding to base and rover orientation (e.g. 90 degrees when moving base to the left and rover to the right)
Once these params are enabled and the F9Ps are mounted to the airframe (assuming valid RTK fix) the LED's on both F9Ps should turn green.
Note that the Dual F9P heading is only accurate/valid if at least one F9P's are reporting a status of `RTK Fixed (6)`.
This means that dual heading will not work indoors or in areas with GPS interference/lack of coverage.
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# Holybro Kotleta 20
The Holybro Kotleta 20 is an CAN ESC designed to run the open source [PX4 Sapog ESC Firmware](../dronecan/sapog.md).
While it can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).
## 구매처
[Holybro Kotleta20](https://holybro.com/products/kotleta20)
## 설정
Follow the [Sapog ESC Setup](../dronecan/sapog.md) instructions.
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# Holybro DroneCAN M8N GPS
The Holybro DroneCAN GPS has an UBLOX M8N module, BMM150 compass, tri-colored LED indicator.
The GPS module uses the [DroneCAN](index.md) protocol for communication.
DroneCAN connections are more resistant to electromagnetic interference compared to serial connection, making it more reliable.
In addition, using DroneCAN means that the GPS and compass do not occupy any flight controller serial ports (different/additional CAN devices can be connected to the same CAN bus via a CAN splitter board).
<img src="../../assets/hardware/gps/hb_dronecan_m8n/hb_dronecan_m8n_gps.jpg" width="400px" title="Hero diagram for the GPS module" />
## 구매처
Order this module from:
- [Holybro](https://holybro.com/products/dronecan-m8n-gps)
## Hardware Specifications
| | DroneCAN M8N |
| ------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| GNSS Receiver | Ublox NEO M8N |
| Number of Concurrent GNSS | 2 (Default GPS + GLONASS) |
| 프로세서 | STM32G4 (170MHz, 512K FLASH) |
| 나침반 | BMM150 |
| Frequency Band | <p>GPS: L1C/A<br>GLONASS: L10F<br>Beidou: B1I<br>Galileo: E1B/C</p> |
| GNSS Augmentation System | SBAS: WAAS, EGNOS, MSAS, QZSS |
| Navigation Update | 5Hz Default(10Hz MAX) |
| Navigation sensitivity | –167 dBm |
| Cold starts | \~ 26s |
| Accuracy | 2.5m |
| Speed Accuracy | 0.05 m/s |
| Max # of Satellites | 22+ |
| Default CAN BUS data rate | 1MHz |
| Communication Protocol | DroneCAN @ 1 Mbit/s |
| Supports Autopilot FW | PX4, Ardupilot |
| Port Type | GHR-04V-S |
| Antenna | 25 x 25 x 4 mm ceramic patch antenna |
| 전압 | 4.7-5.2V |
| Power consumption | Less than 200mA @ 5V |
| Temperature | -40\~80C |
| Size | <p>Diameter: 54mm<br>Thickness: 14.5mm</p> |
| 중량 | 36g |
| Cable Length | 26cm |
| Other | <ul><li>LNA MAX2659ELT+ RF Amplifier</li><li>Rechargeable Farah capacitance</li><li>Low noise 3.3V regulator</li><li>26cm cable included</li></ul> |
## 하드웨어 설정
### 장착
The recommended mounting orientation is with the arrow on the GPS pointing towards the **front 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).
### 배선
The Holybro DroneCAN 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.
### 핀배열
![Diagram showing GPS pinouts](../../assets/hardware/gps/hb_dronecan_m8n/hb_dronecan_m8n_gps_pinout.jpg)
### 크기
![Diagram showing GPS dimensions](../../assets/hardware/gps/hb_dronecan_m8n/hb_dronecan_m8n_gps_dimension.jpg)
## PX4 설정
You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle.
The required settings are outlined below.
:::info
The GPS will not boot if there is no SD card in the flight controller when powered on.
:::
### Enable DroneCAN
In order to use the ARK GPS board, 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)).
단계는 다음과 같습니다:
- 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 GPS CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
GPS data should arrive at 5Hz.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
### Sensor Position Configuration
If the sensor is not centred within the vehicle you will also need to define sensor offsets:
- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
- 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).
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
- 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 GPS from the vehicles centre of gravity.
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# DroneCAN
[DroneCAN](https://dronecan.github.io/) is a open software communication protocol for flight controllers and other [CAN](../can/index.md) devices on a vehicle to communicate with each other.
:::warning
- DroneCAN is not enabled by default, and nor are specific sensors and features that use it.
For setup information see [PX4 Configuration](#px4-configuration).
- PX4 requires an SD card to enable dynamic node allocation and for firmware update.
The SD card is not used in flight.
:::
:::info
DroneCAN was previously known as UAVCAN v0 (or just UAVCAN).
The name was changed in 2022.
:::
## Benefits of DroneCAN
Connecting peripherals over DroneCAN has many benefits:
- Many different sensors and actuators are already supported.
- CAN has been specifically designed to deliver robust and reliable connectivity over relatively large distances.
It enables safe use of ESCs on bigger vehicles and communication redundancy.
- The bus is bi-directional, enabling health monitoring, diagnostics, and RPM telemetry.
- Wiring is less complicated as you can have a single bus for connecting all your ESCs and other DroneCAN peripherals.
- Setup is easier as you configure ESC numbering by manually spinning each motor.
- It allows users to configure and update the firmware of all CAN-connected devices centrally through PX4.
## 지원 하드웨어
Most common types of peripherals (sensors, ESCs, and servos) that are DroneCAN/UAVCAN v0 compliant are supported.
Supported hardware includes (this is not an exhaustive list):
- [ESC/Motor controllers](../dronecan/escs.md)
- Airspeed sensors
- [Holybro High Precision DroneCAN Airspeed Sensor - DLVR](https://holybro.com/collections/sensors/products/high-precision-dronecan-airspeed-sensor-dlvr)
- [RaccoonLab airspeed sensor](https://docs.raccoonlab.co/guide/airspeed)
- [Thiemar airspeed sensor](https://github.com/thiemar/airspeed)
- GNSS receivers for GNSS (GPS, GLONASS, BeiDou, and so on)
- [ARK GPS](../dronecan/ark_gps.md)
- [ARK RTK GPS](../dronecan/ark_rtk_gps.md)
- [CubePilot Here3](https://www.cubepilot.org/#/here/here3)
- [CUAV NEO v2 Pro GNSS](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html)
- [CUAV NEO 3 Pro GPS](../gps_compass/gps_cuav_neo_3pro.md)
- [CUAV NEO 3X GPS](../gps_compass/gps_cuav_neo_3x.md)
- [CUAV C-RTK2 PPK/RTK GNSS](../gps_compass/rtk_gps_cuav_c-rtk2.md)
- [Holybro H-RTK ZED-F9P (DroneCAN variant)](../dronecan/holybro_h_rtk_zed_f9p_gps.md)
- [Holybro DroneCAN M8N GPS](../dronecan/holybro_m8n_gps.md)
- [Holybro DroneCAN M9N GPS](https://holybro.com/products/dronecan-m9n-gps)
- [Holybro DroneCAN H-RTK F9P Rover](https://holybro.com/products/dronecan-h-rtk-f9p-rover)
- [Holybro DroneCAN H-RTK F9P Helical](https://holybro.com/products/dronecan-h-rtk-f9p-helical)
- [RaccoonLab GNSS Modules](https://docs.raccoonlab.co/guide/gps_mag_baro/)
- [Zubax GNSS](https://zubax.com/products/gnss_2)
- Power monitors
- [Pomegranate Systems Power Module](../dronecan/pomegranate_systems_pm.md)
- [CUAV CAN PMU Power Module](../dronecan/cuav_can_pmu.md)
- [RaccoonLab CAN Power Connectors and Management Units](../dronecan/raccoonlab_power.md)
- 나침반
- [Holybro RM3100 Professional Grade Compass](https://holybro.com/products/dronecan-rm3100-compass)
- [RaccoonLab RM3100 Magnetometer](https://docs.raccoonlab.co/guide/gps_mag_baro/mag_rm3100.html)
- Distance sensors
- [ARK Flow](ark_flow.md)
- [Ark Flow MR](ark_flow_mr.md)
- [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
- [RaccoonLab uRangefidner and Rangefinders Adapter](https://docs.raccoonlab.co/guide/rangefinder)
- 광류 센서
- [Ark Flow](ark_flow.md)
- [Ark Flow MR](ark_flow_mr.md)
- Generic CAN Node (enables use of I2C, SPI, UART sensors on the CAN bus).
- [ARK CANnode](../dronecan/ark_cannode.md)
- [RaccoonLab Nodes](../dronecan/raccoonlab_nodes.md)
## 하드웨어 설정
DroneCAN operates over a CAN network.
DroneCAN hardware should be connected as described in [CAN > Wiring](../can/index.md#wiring).
## Node ID Allocation
Every DroneCAN device must be configured with a _node id_ that is unique on the vehicle.
Most devices support _Dynamic Node Allocation (DNA)_, which allows PX4 to automatically configure the node ID of each detected peripheral on system startup.
Consult the manufacturer documentation for details on whether your device supports DNA and how to enable it.
Many devices will automatically switch to DNA if the node id is set to 0.
PX4 will enable the built in allocation server if the [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) parameter is > 1 (set to 2 or 3).
Some devices don't support DNA.
Additionally, in certain mission-critical scenarios, you might prefer to manually configure node IDs beforehand instead of relying on the dynamic allocation server.
If you wish to disable the DNA completely, set `UAVCAN_ENABLE` to `1` and manually set each node ID to a unique value.
If the DNA is still running and certain devices need to be manually configured, give these devices a value greater than the total number of DroneCAN devices to avoid clashes.
:::info
The PX4 node ID can be configured using the [UAVCAN_NODE_ID](../advanced_config/parameter_reference.md#UAVCAN_NODE_ID) parameter.
The parameter is set to 1 by default.
:::
:::warning
At time of writing, PX4 does not run the node allocation server on the CAN2 port.
This means that if you have a device that is _only_ connected to CAN2 (not redundantly to CAN1 and CAN2), you will need to manually configure its node ID.
:::
## PX4 설정
DroneCAN is configured on PX4 by [setting specific PX4 parameters](../advanced_config/parameters.md) in QGroundControl.
You will need to enable DroneCAN itself, along with subscriptions and publications for any features that you use.
:::info
In some cases you may need to also configure parameters on the connected CAN devices (these can also be [set using QGC](#qgc-cannode-parameter-configuration)).
:::
### Enabling DroneCAN
To enable the PX4 DroneCAN driver, set the [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) parameter:
- `0`: DroneCAN driver disabled
- `1`: DroneCAN driver enabled for sensors, [DNA server](#node-id-allocation) disabled
- `2`: DroneCAN driver enabled for sensors, DNA server enabled
- `3`: DroneCAN driver enabled for sensors and ESCs, DNA server enabled
`2` or `3` are recommended, if DNA is supported.
### DroneCan Subscriptions & Publications
PX4 does not publish or subscribe to DroneCAN messages that _might_ be needed by default, in order to avoid spamming the CAN bus.
Instead you must enable publication or subscription to the messages associated with a particular feature by setting the associated [UAVCAN parameter](../advanced_config/parameter_reference.md#uavcan).
:::info
Sensor parameters may not exist (be visible in QGC) until you have enabled the associated DroneCAN [sensor subscription](#sensors)!
For example, [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) does not exist until [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) is enabled.
:::
For example, to use a connected DroneCAN smart battery you would enable the [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) parameter, which would subscribe PX4 to receive [BatteryInfo](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#batteryinfo) DroneCAN messages.
If using a peripheral that needs to know if PX4 is armed, you would need to set the [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) parameter so that PX4 starts publishing [ArmingStatus](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus) messages.
The parameter names are prefixed with `UAVCAN_SUB_` and `UAVCAN_PUB_` to indicate whether they enable PX4 subscribing or publishing.
The remainder of the name indicates the specific message/feature being set.
DroneCAN peripherals connected to PX4 can also be [configured using parameters via QGC](#qgc-cannode-parameter-configuration).
By convention, parameters named with the prefix [CANNODE\_](../advanced_config/parameter_reference.md#CANNODE_BITRATE) have prefined meaning, and may be documented in the parameter reference.
`CANNODE_` parameters prefixed with `CANNODE_PUB_` and `CANNODE_SUB_` enable the peripheral to publish or subscribe the associated DroneCAN message.
These allow DroneCAN peripherals to be configured to only subscribe and publish messages that they actually need (in the same way that PX4 uses the corresponding `UAVCAN_PUB_`/`UAVCAN_SUB_` parameters).
Note that a peripheral might might not use `CANNODE_` parameters, in which case it may have to publish/subscribe to particular messages whether or not they are needed.
The following sections provide additional detail on the PX4 and DroneCAN peripheral parameters used to enable particular features.
#### 센서
The DroneCAN sensor parameters/subscriptions that you can enable are (in PX4 v1.14):
- [UAVCAN_SUB_ASPD](../advanced_config/parameter_reference.md#UAVCAN_SUB_ASPD): Airspeed
- [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO): Barometer
- [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT): Battery monitor/Power module
- [UAVCAN_SUB_BTN](../advanced_config/parameter_reference.md#UAVCAN_SUB_BTN): Button
- [UAVCAN_SUB_DPRES](../advanced_config/parameter_reference.md#UAVCAN_SUB_DPRES): Differential pressure
- [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW): Optical flow
- [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS): GPS
- [UAVCAN_SUB_GPS_R](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS_R)<Badge type="tip" text="PX4 v1.15" />: Subscribes to GNSS relative message ([RelPosHeading](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#relposheading)).
Only used for logging in PX4 v1.15.
- [UAVCAN_SUB_HYGRO](../advanced_config/parameter_reference.md#UAVCAN_SUB_HYGRO): Hygrometer
- [UAVCAN_SUB_ICE](../advanced_config/parameter_reference.md#UAVCAN_SUB_ICE): Internal combustion engine (ICE).
- [UAVCAN_SUB_IMU](../advanced_config/parameter_reference.md#UAVCAN_SUB_IMU): IMU
- [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG): Magnetometer (compass)
- [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG): Range finder (distance sensor).
#### GPS
PX4 DroneCAN parameters:
- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS).
- Enable [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG) if the GPS module has an inbuilt compass.
GPS CANNODE parameter ([set using QGC](#qgc-cannode-parameter-configuration)):
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` for the last node on the CAN bus.
Other PX4 Parameters:
- If the GPS is not positioned at the vehicle centre of gravity you can account for the offset using [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).
- If the GPS module provides yaw information, you can enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
#### RTK GPS
Set the same parameters as for [GPS](#gps) above.
In addition, you may also need to set the following parameters depending on whether your RTK setup is Rover and Fixed Base, or Rover and Moving Base, or both.
##### Rover and Fixed Base
Position of 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](#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
You could instead use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD), which also publish RTCM messages (these are newer).
Using the [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) message means that you can implement moving base (see below) at the same time.
:::
##### Rover and Moving Base
As discussed in [RTK GPS Heading with Dual u-blox F9P](../gps_compass/u-blox_f9p_heading.md) a vehicle can have two RTK modules in order to calculate yaw from GPS.
In this setup the vehicle has a _moving base_ RTK GPS and a _rover_ RTK GPS.
These parameters can be [set on moving base and rover RTK CAN nodes](#qgc-cannode-parameter-configuration), respectively:
- [CANNODE_PUB_MBD](../advanced_config/parameter_reference.md#CANNODE_PUB_MBD) causes a moving base GPS unit to publish [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata)RTCM messages onto the bus (for the rover)
- [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) tells the rover that it should subscribe to [MovingBaselineData](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#movingbaselinedata) RTCM messages on the bus (from the moving base).
For PX4 you will also need to set [GPS_YAW_OFFSET](../advanced_config/parameter_reference.md#GPS_YAW_OFFSET) to indicate the relative position of the moving base and rover: 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.
#### 기압계
PX4 DroneCAN parameters:
- Enable [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
#### 나침반
PX4 DroneCAN parameters:
- Enable [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG).
#### Distance Sensor/Range Finder
PX4 DroneCAN parameters:
- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) and [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX), the minimum and maximum range of the distance sensor.
Other PX4 parameters:
- If the rangefinder is not positioned at the vehicle centre of gravity you can account for the offset using [EKF2_RNG_POS_X](../advanced_config/parameter_reference.md#EKF2_RNG_POS_X), [EKF2_RNG_POS_Y](../advanced_config/parameter_reference.md#EKF2_RNG_POS_Y) and [EKF2_RNG_POS_Z](../advanced_config/parameter_reference.md#EKF2_RNG_POS_Z).
- Other `EKF2_RNG_*` parameters may be relevant, in which case they should be documented with the specific rangefinder.
#### Optical Flow Sensor
PX4 DroneCAN parameters:
- Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW).
Other PX4 parameters:
- Set [SENS_FLOW_MINHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MINHGT) and [SENS_FLOW_MAXHGT](../advanced_config/parameter_reference.md#SENS_FLOW_MAXHGT), the minimum and maximum height of the flow sensor.
- Set [SENS_FLOW_MAXR](../advanced_config/parameter_reference.md#SENS_FLOW_MAXR) the maximum angular flow rate of the sensor.
- Enable optical flow fusion by setting [EKF2_OF_CTRL](../advanced_config/parameter_reference.md#EKF2_OF_CTRL).
- To disable GPS aiding (optional), set [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to `0`.
- If the optical flow unit is not positioned at the vehicle centre of gravity you can account for the offset using [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X), [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) and [EKF2_OF_POS_Z](../advanced_config/parameter_reference.md#EKF2_OF_POS_Z).
Optical flow sensors require rangefinder data.
However the rangefinder need not be part of the same module, and if not, may not be connected via DroneCAN.
If the rangefinder is connected via DroneCAN (whether inbuilt or separate), you will also need to enable it as described in the [rangefinder section](#distance-sensor-range-finder) (above).
#### Arming Peripherals
PX4 DroneCAN parameters:
- [UAVCAN_PUB_ARM](../advanced_config/parameter_reference.md#UAVCAN_PUB_ARM) ([Arming Status](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#armingstatus)): Publish when using DroneCAN components that require the PX4 arming status as a precondition for use.
### ESC & Servos
[DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured.
## QGC CANNODE Parameter Configuration
QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.
CAN nodes are displayed separate sections in [Vehicle Settings > Parameters](../advanced_config/parameters.md) named _Component X_, where X is the node ID.
For example, the screenshot below shows the parameters for a CAN GPS with node id 125 (after the _Standard_, _System_, and _Developer_ parameter groupings).
![QGC Parameter showing selected DroneCAN node](../../assets/can/dronecan/qgc_can_parameters.png)
## Device Specific Setup
Most DroneCAN nodes require no further setup, unless specifically noted in their device-specific documentation.
## 펌웨어 업데이트
PX4 can upgrade device firmware over DroneCAN.
To upgrade the device, all you need to do is copy the firmware binary into the root directory of the flight controller's SD card and reboot.
Upon boot the flight controller will automatically transfer the firmware onto the device and upgrade it.
If successful, the firmware binary will be removed from the root directory and there will be a file named **XX.bin** in the **/ufw** directory of the SD card.
## 문제 해결
**Q**: My DroneCAN devices aren't working.
**A**: Check that the `UAVCAN_ENABLE` parameter is set correctly. To see a list of devices/nodes that PX4 has detected on the CAN bus, open NSH (i.e. go to the QGroundControl MAVLink Console) and type `uavcan status`.
---
**Q**: The DNA server isn't giving out node IDs.
**A**: PX4 requires an SD card to perform dynamic node allocation. Make sure you have (a working) one inserted and reboot.
---
**Q**: The motors aren't spinning when armed.
**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output.
---
**Q**: The motors don't spin until throttle is increased.
**A**: Use [Acutator > Actuator Testing](../config/actuators.md#actuator-testing) to confirm that the motor outputs are set to the correct minimum values.
## Useful Links
- [Home Page](https://dronecan.github.io) (dronecan.github.io)
- [Protocol Specification](https://dronecan.github.io/Specification) (dronecan.github.io)
- [Implementations](https://dronecan.github.io/Implementations/) (dronecan.github.io)
- [Cyphal/CAN Device Interconnection](https://kb.zubax.com/pages/viewpage.action?pageId=2195476) (kb.zubax.com)
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# Pomegranate Systems Power Module
:::info
In 2022, UAVCAN (v0) was forked and is maintained as `DroneCAN`.
While this product still mentions "UAVCAN", it is fully compatible with PX4's DroneCAN support.
:::
![Module Image](../../assets/hardware/power_module/pomegranate_systems_pm/main_image.jpg)
Digital Power Module with high resolution current integration, 5V/2A supply with power monitoring, single DroneCAN CANbus interface, and an RGB status LED.
Detailed setup, configuration, and troubleshooting information can be found on the [manufacturer's device home page](https://p-systems.io/product/power_module).
## Hardware Specifications
- **Input Voltage:** 6-26V \(2-6S\)
- **Max Continuous Current:**
- **Benchtop:** 40A
- **Forced Cooling:** 100A
- **Max 5V Output Current:** 2A
- **Voltage Resolution:** 0.04 ΔV
- **Current Resolution:**
- **Primary / Battery Bus:** 0.02 ΔA
- **5V bus:** 0.001 ΔA
- **CANbus Termination:** Electronic (on by default)
- **MCU:** STM32F302K8U
- **Electrical Interface:**
- **Power:** Solder pads or XT60PW (right angle, board-mounted connectors)
- **CANbus** Dual JST GH-4 (standard UAVCAN micro-connector)
- **I2C / Serial:** JST GH-5
- **5V Output:** Solder pads or CANbus / I2C connectors
- **Device Mass:**
- **Without Connectors:** 9g
- **With XT60PW Connectors:** 16g
![Dimensions](../../assets/hardware/power_module/pomegranate_systems_pm/mechanical.png)
## Firmware Setup
The power module runs pomegranate systems' own custom (open source) firmware.
Source code and build instructions can be found on [the bitbucket](https://bitbucket.org/p-systems/firmware/src/master).
## Flight Controller Setup
1. Enable DroneCAN by setting the [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) parameter to `2` (Sensors Automatic Config) or `3`.
2. Enable DroneCAN battery monitoring by setting [UAVCAN_SUB_BAT](../advanced_config/parameter_reference.md#UAVCAN_SUB_BAT) to `1` or `2` ( depending on your battery).
3. Set the following module parameters using the [MAVLink console](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/analyze_view/mavlink_console.html):
- Battery capacity in mAh: `battery_capacity_mAh`
- Battery voltage when _full_: `battery_full_V`,
- Battery voltage when _empty_: `battery_empty_V`
- Turn on current integration: `enable_current_track`
- (optional) Turn Off CANbus termination resistor :`enable_can_term`
**Example:** A Power Module with UAVCAN node id `125` connected to a `3S` LiPo with capacity of `5000mAh` can be configured with the following commands:
```sh
uavcan param set 125 battery_capacity_mAh 5000
uavcan param set 125 battery_full_V 12.5
uavcan param set 125 battery_empty_V 11.2
uavcan param set 125 enable_current_track 1
uavcan param save 125
```
See [device configuration page](https://p-systems.io/product/power_module/configuration) for a full list of parameters.
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# PX4 DroneCAN Firmware
PX4 can run as the firmware on many DroneCAN peripherals. There are multiple benefits to this:
- PX4 has built-in drivers for a [wide range](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) of sensors and peripherals components.
- PX4 has a robust DroneCAN driver implementation that has undergone multiple years of field testing.
- PX4 is continuously being developed. You routinely get access to the latest improvements.
- PX4's estimation and control code makes it easy to create "smart" cannodes like integrated AHRS modules.
- The firmware is completely open source (PX4 is BSD licensed).
## Building the Firmware
Follow the [PX4 building docs](../dev_setup/building_px4.md) just as you would to build firmware for a flight controller. Device build configurations are stored [here](https://github.com/PX4/PX4-Autopilot/tree/main/boards). After installing the [PX4 toolchain](../dev_setup/dev_env.md), clone the sources and build. For example, to build for the [Ark Flow](ark_flow.md) target:
```sh
git clone --recursive https://github.com/PX4/PX4-Autopilot
cd PX4-Autopilot
make ark_can-flow_default
```
This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
## 개발자 정보
This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.
### DroneCAN Bootloader Installation
:::warning
DroneCAN devices typically ship with a bootloader pre-installed.
Do not follow the instructions in this section unless you are developing DroneCAN devices,
or have (accidentally) corrupted/wiped your bootloader.
:::
The PX4 project includes a standard DroneCAN bootloader for STM32 devices.
The bootloader occupies the first 8-16 KB of flash, and is the first code executed on power-up.
Typically the bootloader performs low-level device initialization, automatically determines the CAN
bus baud rate, acts as a [DroneCAN dynamic node ID client](index.md#node-id-allocation) to obtain a unique node ID, and waits for confirmation from the flight controller before proceeding with application boot.
This process ensures that a DroneCAN device can recover from invalid or corrupted application firmware without user intervention, and also permits automatic firmware updates.
Build the bootloader firmware by specifying the same peripheral target with the `canbootloader` build configuration instead of the `default` configuration.
For example, to build for the [Ark Flow](ark_flow.md) target:
```sh
git clone --recursive https://github.com/PX4/PX4-Autopilot
cd PX4-Autopilot
make ark_can-flow_canbootloader
```
The binary can then be flashed to the microcontroller using your favorite SWD/JTAG debugger, such as the [Black Magic Probe](https://black-magic.org/index.html), [ST-Link](https://www.st.com/en/development-tools/st-link-v2.html), or [Segger JLink](https://www.segger.com/products/debug-probes/j-link/).
### Firmware Internals
For the most part, peripheral firmware works the same way as flight controller firmware builds.
However, most modules are disabled - only the sensor drivers, DroneCAN driver, and internal infrastructure (uORB, etc.) are enabled.
DroneCAN communication is handled by the [uavcannode](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/uavcannode) module.
This driver handles producer-side communication - it takes sensor/actuator data from uORB, serializes it using the DroneCAN libraries, and publishes it over CAN.
In the future, this will likely be merged with the [uavcan](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/uavcan) module which handles flight controller side (consumer side) drivers, which receive/deserialize data from the CAN bus and publish them over uORB.
The build system also produces firmware binaries designed to be flashed through a DroneCAN bootloader via [PX4's DroneCAN flashing support] or the DroneCAN GUI, in addition to the standard raw binary, ELF, and `.px4` firmware files.
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# RaccoonLab Mini/Micro Nodes
Mini/Micro are general purpose CAN nodes. The functionality of these devices depends on the firmware they are running.
The default and most popular usage is as a PWM-CAN adapter to control ESCs and servos using CAN (Cyphal or DroneCAN) communication:
- Micro is the smallest node with 2 groups of pins (PWM/5V/GND) to control 2 servos or ESCs.
- Mini v2: Features 2 x PWM/5V/GND for controlling servos or ESCs and 2 x PWM/FB/GND for controlling and receiving feedback from ESCs via UART.
## Cyphal/DroneCAN CAN-PWM Adapter Firmware
_Cyphal/DroneCAN CAN-PWM_ firmwares are the default for Mini and Micro nodes.
These convert a typical PX4 CAN setpoint to PWM for controlling ESCs or servos.
Please refer to the corresponding RaccoonLab docs pages for details: [Cyphal/CAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/cyphal.html), [DroneCAN-PWM](https://docs.raccoonlab.co/guide/can_pwm/dronecan.html).
![Mini v2 Node with Servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_with_servo.png)
## Cyphal & DroneCAN Rangefinder Firmware
The _Cyphal & DroneCAN Rangefinder_ firmware is a single firmware that can work in either Cyphal or DroneCAN mode.
It supports LW20/I2C, Garmin Lite v3/I2C and TL-Luna/UART lidars.
For details, please check the [Rangefinder](https://docs.raccoonlab.co/guide/can_pwm/rangefinder.html) page.
![Mini v2 Node with servo and ESC](../../assets/hardware/can_nodes/raccoonlab_mini_v2_lw20_i2c.png)
## DroneCAN Fuel Sensor Firmware
_DroneCAN fuel tank_ firmware is based on the [AS5600 sensor board](https://docs.raccoonlab.co/guide/as5600/).
Please refer to [DroneCAN Fuel Tank](https://docs.raccoonlab.co/guide/can_pwm/fuel_tank.html) for details.
## DroneCAN Servo Gripper Firmware
_DroneCAN servo gripper_ is part of a [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
Please refer to [DroneCAN Servo Gripper](https://docs.raccoonlab.co/guide/can_pwm/servo_gripper.html) for details.
## Custom Firmware
**Custom firmware** can be developed by anyone.
If you require custom features, you can use the [Mini Node Template Application](https://github.com/RaccoonlabDev/mini_v2_node).
You can configure the external pins to work in UART, I2C or ADC mode.
From the box, it supports basic Cyphal/DroneCAN features.
It has publishers and subscribers as an example.
## Which node to choose?
The differences between [Mini v2](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_mini_v2.html) and [Micro](https://docs.raccoonlab.co/guide/can_pwm/can_pwm_micro.html) are summarized in the table below.
For more details, please refer to the corresponding pages.
| | | Mini v2 | Micro |
| - | --------------- | ----------------------------------------- | ------------------------------------------- |
| | 이미지 | ![RaccoonLab Mini v2 Node][Mini v2 Node] | ![RaccoonLab Micro Node][Micro Node] |
| 1 | Input voltage | 5.5V – 30V | 4.5V – 5.5V |
| 2 | DC-DC | Yes | No |
| 3 | Groups of pins | - PWM+5V+GND x2 </br> - PWM+FB+GND x2 | - PWM+5V+GND x2 |
| 4 | CAN connectors | - UCANPHY Micro x2 </br> - 6-pin Molex x2 | - UCANPHY Micro x2 |
| 5 | SWD interface | + | + |
| 6 | Size, LxWxH, mm | 42x35x12 | 20x10x5 |
| 7 | Mass, g | 5 | 3 |
[Mini v2 Node]: ../../assets/hardware/can_nodes/raccoonlab_mini_node.png
[Micro Node]: ../../assets/hardware/can_nodes/raccoonlab_micro_node.png
## 구매처
[RaccoonLab Store](https://raccoonlab.co/store)
[Cyphal store](https://cyphal.store/search?q=raccoonlab)
docs/ko/dronecan/raccoonlab_power.md
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# RaccoonLab Power Connectors and Management Units
## CAN Power Connectors
CAN power connectors are designed for light unmanned aerial (UAV) and other vehicles for providing power over CAN using [CAN power cables](https://docs.raccoonlab.co/guide/pmu/wires/).
There are two types of devices:
1. `CAN-MUX` devices provide power from XT30 connector to CAN.
There are 2 variation of this type of the device with different number of connectors.
2. `Power connector node` is designed to pass current (up to 60A) to power load and CAN, measure voltage and current on load.
It behaves as Cyphal/DroneCAN node.
Please refer to the RaccoonLab docs [CAN Power Connectors](https://docs.raccoonlab.co/guide/pmu/power/) page.
**Connection example diagram**
Here are the examples:
- The first shows how to use both external high voltage power and 5V CAN power for different nodes with MUX.
The [NODE](raccoonlab_nodes.md) (the large one in the left diagram) is connected to a high-voltage power source (here 30 V).
In this case, the [uNODE](raccoonlab_nodes.md) (smaller one on the left schematic) is powered directly from the autopilot.
- The second example shows how to connect multiple [uNODEs](raccoonlab_nodes.md) that are powered by the autopilot (5V).
If these nodes are powered from a separate DCDC, that DCDC should also be connected to one of these connectors.
![RaccoonLab CAN Power Connector Example Diagram](../../assets/hardware/power_module/raccoonlab_can/raccoonlab_power_connector_example.png)
## Power Management Unit
![raccoonlab pmu ](../../assets/hardware/power_module/raccoonlab_can/raccoonlab_pmu.jpg)
This board monitors the battery (voltage and current) and allows control over charging, source and load using he DroneCAN interface.
It might be useful for applications where you need to control the power of the drone including the board computer and charging process.
Please refer to the RaccoonLab docs [Power & Connectivity](https://docs.raccoonlab.co/guide/pmu/) page.
## 구매처
[RaccoonLab Store](https://raccoonlab.co/store)
[Cyphal store](https://cyphal.store/search?q=raccoonlab)
docs/ko/dronecan/sapog.md
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# Sapog ESC Firmware
[Sapog](https://github.com/PX4/sapog#px4-sapog) firmware is an advanced open source sensorless PMSM/BLDC motor controller firmware designed for use in propulsion systems of electric unmanned vehicles.
While it can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).
## 구매처
Multiple vendors sell ESC hardware that runs sapog firmware:
- [Zubax Orel 20](https://zubax.com/products/orel_20)
- [Holybro Kotleta20](https://holybro.com/products/kotleta20)
<style>
#image_container {
height: 100%;
width: 100%;
display: flex;
}
.image_column {
width: 33%;
text-align: center;
}
</style>
<div id="image_container">
<div class="image_column">
<img src="../../assets/peripherals/esc_uavcan_zubax_orel20/orel20_top.jpg" alt="Orel20 - Top"/>
<br><a href="https://zubax.com/products/orel_20">Zubax Orel 20</a>
</div>
<div class="image_column">
<img src="../../assets/peripherals/esc_uavcan_holybro_kotleta20/kotleta20_top.jpg" alt="Holybro Kotleta20 top" />
<br><a href="https://holybro.com/products/kotleta20">Holybro Kotleta20</a>
</div>
</div>
## 하드웨어 설정
ESCs are 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.
ESC order does not matter.
## Firmware Setup
ESCs come with an existing build of Sapog installed. If you want to update:
To build the firmware:
```sh
git clone --recursive https://github.com/PX4/sapog
cd sapog/firmware
make RELEASE=1
```
This will create a file `*.application.bin`. in `build/`.
This binary can be flashed through the autopilot over DroneCAN via the sapog bootloader.
See [DroneCAN Firmware Update](index.md#firmware-update).
Refer to the [project page](https://github.com/PX4/sapog) to learn more, including how to flash without using the DroneCAN bootloader (i.e. on a not-yet-programmed device) or for development.
## Flight Controller Setup
### Enabling DroneCAN
Connect the ESCs to the Pixhawk CAN bus. Power up the entire vehicle using a battery or power supply (not just the flight controller over USB) and enable the DroneCAN driver by setting the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to '3' to enable both dynamic node ID allocation and DroneCAN ESC output.
### Automatic ESC Enumeration using QGroundControl
This section shows how to enumerate any [Sapog-based](https://github.com/PX4/sapog#px4-sapog)-based ESCs "automatically" using _QGroundControl_.
:::tip
You can skip this section if there is only one ESC in your setup, because the ESC index is already set to zero by default.
:::
To enumerate the ESC:
1. Power the vehicle with a battery and connect to _QGroundControl_
2. Navigate to **Vehicle Setup > Power** in QGC.
3. Start the process of ESC auto-enumeration by pressing the **Start Assignment** button, as shown on the screenshot below.
![QGC - DroneCAN ESC auto-enumeration](../../assets/peripherals/esc_qgc/qgc_uavcan_settings.jpg)
You will hear a sound indicating that the flight controller has entered the ESC enumeration mode.
4. Manually turn each motor in the correct direction of its rotation (as specified in the [Airframe Reference](../airframes/airframe_reference.md)), starting from the first motor and finishing with the last motor.
Each time you turn a motor, you should hear a confirmation beep.
::: info
Make sure to turn each of the motors in the correct direction, as the ESC will automatically learn and remember the direction (i.e. motors that spin clockwise during normal operation must also be turned clockwise during enumeration).
:::
5. After the last motor is enumerated, the confirmation sound should change to indicate that the enumeration procedure is complete.
6. Reboot PX4 and the Sapog ESCs to apply the new enumeration IDs.
The following video demonstrates the process:
<lite-youtube videoid="4nSa8tvpbgQ" title="Zubax Orel 20 with PX4 Flight Stack - Auto-enumeration"/>
### Manual ESC Enumeration using Sapog
:::tip
We recommend automated [Sapog ESC Enumeration using QGroundControl](#automatic-esc-enumeration-using-qgroundcontrol) shown above rather than manual enumeration (as it is easier and safer).
:::
You can manually configure the ESC index and direction using the [DroneCAN GUI Tool](https://dronecan.github.io/GUI_Tool/Overview/).
This assigns the following Sapog configuration parameters for each enumerated ESC:
- `esc_index`
- `ctl_dir`
:::info
See [Sapog reference manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf) for more information about the parameters.
:::
### PX4 설정
Assign motors to outputs using the [Acutator](../config/actuators.md#actuator-testing) configuration screen.
## 문제 해결
See [DroneCAN Troubleshooting](index.md#troubleshooting)
## 추가 정보
- [PX4/Sapog](https://github.com/PX4/sapog#px4-sapog) (Github)
- [Sapog v2 Reference Manual](https://files.zubax.com/products/io.px4.sapog/Sapog_v2_Reference_Manual.pdf)
- [Using Sapog based ESC with PX4](https://kb.zubax.com/display/MAINKB/Using+Sapog-based+ESC+with+PX4) (Zubax KB)
docs/ko/dronecan/zubax_orel.md
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# Zubax Orel 20/21
The Zubax Orel 20 is an CAN ESC designed to run the open source [PX4 Sapog ESC Firmware](../dronecan/sapog.md).
While it can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).
## 구매처
[Zubax Orel](https://zubax.com/products/orel_20)
## 설정
Follow the [Sapog ESC Setup](../dronecan/sapog.md) instructions.
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# Zubax Telega ESCs
Zubax Telega is a high end, proprietary sensorless FOC motor control technology.
It is used in multiple products, including the [Zubax Myxa](https://zubax.com/products/myxa) ESC, [Zubax Mitochondrik](https://zubax.com/products/mitochondrik) motor controller module, and Zubax Sadulli integrated drive.
While Telega can be controlled using traditional PWM input, it is designed to operate over CAN bus using [DroneCAN](index.md).
:::info
ESCs based on Zubax Telega require non-trivial tuning of the propulsion system in order to deliver adequate performance and ensure robust operation.
Users who lack the necessary tuning expertise are advised to either [purchase pre-tuned UAV propulsion kits](https://zubax.com/products/uav_propulsion_kits) or to use Zubax Robotic's professional tuning service.
Questions on this matter should be addressed to: [support@zubax.com](mailto:support@zubax.com).
:::
![Sadulli - Top](../../assets/peripherals/esc_usavcan_zubax_sadulli/sadulli_top.jpg)
## 구매처
- [Zubax Myxa](https://zubax.com/products/myxa): High-end PMSM/BLDC motor controller (FOC ESC) for light unmanned aircraft and watercraft.
- [Zubax Mitochondrik](https://zubax.com/products/mitochondrik): Integrated sensorless PMSM/BLDC motor controller chip (used in ESCs and integrated drives)
- [Zubax Komar](https://shop.zubax.com/products/komar-motor-controller-open-hardware-reference-design-for-mitochondrik?variant=32931555868771): Open hardware reference design for Mitochondrik
- [Zubax Sadulli Integrated Drive](https://shop.zubax.com/collections/integrated-drives/products/sadulli-integrated-drive-open-hardware-reference-design-for-mitochondrik?variant=27740841181283)
## 하드웨어 설정
ESCs are 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. ESC order does not matter.
## Firmware Setup
Motor enumeration for [Telega-based ESCs](https://zubax.com/products/telega) is usually performed using the [Kucher tool](https://files.zubax.com/products/com.zubax.kucher/) (or less "GUI-friendly" [DroneCAN GUI Tool](https://dronecan.github.io/GUI_Tool/Overview/)).
Telega does NOT support automatic enumeration by spinning the motor.
There is some guidance here: [Quick start guide for Myxa v0.1](https://forum.zubax.com/t/quick-start-guide-for-myxa-v0-1/911) (Zubax blog).
Telega ESCs also require other motor setup and configuration for reliable performance. See the above guide and other Zubax documentation for more information.
## Flight Controller Setup
### Enable DroneCAN
Connect the ESCs to the Pixhawk CAN bus. Power up the entire vehicle using a battery or power supply (not just the flight controller over USB) and enable the DroneCAN driver by setting the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `3` to enable both dynamic node ID allocation and DroneCAN ESC output.
### PX4 설정
Assign motors to outputs using the [Acutator](../config/actuators.md#actuator-testing) configuration screen.
## 문제 해결
### Motors not spinning when armed
If the PX4 Firmware arms but the motors do not start to rotate, check that parameter `UAVCAN_ENABLE=3` to use DroneCAN ESCs.
If the motors do not start spinning before thrust is increased, use [Acutator > Actuator Testing](../config/actuators.md#actuator-testing) to confirm that the motor outputs are set to the correct minimum values.
### DroneCAN devices dont get node ID/Firmware Update Fails
PX4 requires an SD card for DroneCAN node allocation and during firmware update (which happen during boot).
Check that there is a (working) SD card present and reboot.