diff --git a/docs/en/dronecan/ark_dist.md b/docs/en/dronecan/ark_dist.md index c11844ad79..b4629445ca 100644 --- a/docs/en/dronecan/ark_dist.md +++ b/docs/en/dronecan/ark_dist.md @@ -1,6 +1,7 @@ # ARK DIST SR ARK DIST SR is a low range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md). +It has an approximate range of between 8cm to 30m. ![ARK DIST SR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg) @@ -50,7 +51,11 @@ The ARK DIST can also be connected with UART and communicates over MAVLink sendi ARK DIST SR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation). -### Enable DroneCAN +## PX4 Configuration + +### DroneCAN + +#### Enable DroneCAN The steps are: @@ -58,13 +63,11 @@ The steps are: - Connect ARK DIST SR CAN to the Pixhawk CAN. Once enabled, the module will be detected on boot. -Distance sensor data should arrive at 40Hz +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 Configuration - -#### CAN Configuration\ +#### CAN Configuration First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above). @@ -77,16 +80,19 @@ Set the following parameters in _QGroundControl_: - 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`. -#### UART/MAVLink Configuration +See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder). + +### UART/MAVLink Configuration + +If connecting via a UART set the following parameters in _QGroundControl_: - Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to. -- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_X_FORWARD) to `0` (off). -- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_X_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage. -- Set [SER_X_BAUD](../advanced_config/parameter_reference.md#SER_X_BAUD) to `115200`. +- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off). +- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage. +- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)). - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`. - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`. - ## See Also - [ARK DIST SR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs) diff --git a/docs/en/dronecan/ark_dist_mr.md b/docs/en/dronecan/ark_dist_mr.md index 42e93d9d8d..054c27d769 100644 --- a/docs/en/dronecan/ark_dist_mr.md +++ b/docs/en/dronecan/ark_dist_mr.md @@ -50,21 +50,23 @@ The ARK DIST can also be connected with UART and communicates over MAVLink sendi ARK DIST MR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation). -### Enable DroneCAN +## PX4 Configuration + +### DroneCAN + +#### Enable DroneCAN The steps are: - In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)). -- Connect ARK DIST MR CAN to the Pixhawk CAN. +- Connect ARK DIST SR CAN to the Pixhawk CAN. Once enabled, the module will be detected on boot. -Distance sensor data should arrive at 40Hz +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 Configuration - -#### CAN Configuration\ +#### CAN Configuration First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above). @@ -77,16 +79,19 @@ Set the following parameters in _QGroundControl_: - 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`. -#### UART/MAVLink Configuration +See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder). + +### UART/MAVLink Configuration + +If connecting via a UART set the following parameters in _QGroundControl_: - Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to. -- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_X_FORWARD) to `0` (off). -- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_X_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage. -- Set [SER_X_BAUD](../advanced_config/parameter_reference.md#SER_X_BAUD) to `115200`. +- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off). +- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage. +- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)). - Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`. - Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`. - ## See Also - [ARK DIST MR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs) diff --git a/docs/en/dronecan/ark_rtk_gps_l1_l2.md b/docs/en/dronecan/ark_rtk_gps_l1_l2.md index 27435d6439..4a7e320c22 100644 --- a/docs/en/dronecan/ark_rtk_gps_l1_l2.md +++ b/docs/en/dronecan/ark_rtk_gps_l1_l2.md @@ -91,10 +91,10 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself: -| Parameter | Description | -| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | -| [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | -| [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | +| Parameter | Description | +| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- | +| [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | +| [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | ### Setting Up Rover and Fixed Base diff --git a/docs/en/dronecan/ark_x20_rtk_gps.md b/docs/en/dronecan/ark_x20_rtk_gps.md index 8d9ad42023..4afc299d5d 100644 --- a/docs/en/dronecan/ark_x20_rtk_gps.md +++ b/docs/en/dronecan/ark_x20_rtk_gps.md @@ -94,10 +94,10 @@ You need to set necessary [DroneCAN](index.md) parameters and define offsets if You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself: -| Parameter | Description | -| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- | -| [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | -| [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | +| Parameter | Description | +| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- | +| [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. | +| [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. | ### Setting Up Rover and Fixed Base diff --git a/docs/en/gps_compass/ark_sam_gps_mini.md b/docs/en/gps_compass/ark_sam_gps_mini.md index 285ee2263a..3c124c07fe 100644 --- a/docs/en/gps_compass/ark_sam_gps_mini.md +++ b/docs/en/gps_compass/ark_sam_gps_mini.md @@ -1,5 +1,4 @@ -# -ARK SAM GPS MINI +# ARK SAM GPS MINI [ARK SAM GPS MINI](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer. diff --git a/docs/en/power_module/ark_12s_payload_power_module.md b/docs/en/power_module/ark_12s_payload_power_module.md index ee43650893..802f8bba6d 100644 --- a/docs/en/power_module/ark_12s_payload_power_module.md +++ b/docs/en/power_module/ark_12s_payload_power_module.md @@ -1,6 +1,6 @@ # ARK 12S Payload Power Module -The [ARK 12S Payload Power Module](https://arkelectron.com/product/ark-12s-payload-power-module/) is a dual 5V 6A and 12V 6A power supply and digital power monitor designed for the Pixhawk Autopilot Bus Carrier boards. +The [ARK 12S Payload Power Module](https://arkelectron.com/product/ark-12s-payload-power-module/) is a dual 5V 6A and 12V 6A power supply and digital power monitor designed for the Pixhawk Autopilot Bus Carrier boards. ![ARK 12S Payload Power Module](../../assets/hardware/power_module/ark_power_modules//ark_12s_payload_power.jpg) @@ -13,24 +13,20 @@ Order this module from: ## Hardware Specifications - **TI INA238 Digital Power Monitor** - - 0.0001 Ohm Shunt - I2C Interface - **5.2V 6A Step-Down Regulator** - - 10V Minimum Input Voltage at 6A Out - Output Over-Current Protection - **12.0V 6A Step-Down Regulator** - - 15V Minimum Input Voltage at 6A Out - Output Over-Current Protection - **75V Maximum Input Voltage** - **Connections** - - Solder Pads Battery Input - Solder Pads Battery Output - 6 Pin Molex CLIK-Mate Output @@ -38,7 +34,6 @@ Order this module from: - 4 Pin Molex CLIK-Mate 12V Output - **Other** - - USA Built - Includes 6 Pin Molex CLIK-Mate Cable diff --git a/docs/en/sensor/rangefinders.md b/docs/en/sensor/rangefinders.md index 7855d70976..425b129241 100644 --- a/docs/en/sensor/rangefinders.md +++ b/docs/en/sensor/rangefinders.md @@ -15,17 +15,69 @@ This is a subset of the rangefinders that can be used with PX4. There may also be other DroneCAN rangefinders than those listed here. ::: +| Rangefinder | Technology | Range (min – max) | Connections | NDAA | Notes | +| ------------------------------------------- | --------------- | ------------------------ | ---------------------- | ---- | ----------------------------------- | +| [Ainstein US-D1 Standard Radar Altimeter] | Microwave radar | ~50 m | UART | ✔️ | | +| [ARK DIST SR] | ToF (850 nm IR) | 8 cm to ~30 m | DroneCAN, UART | ✔️ | | +| [ARK DIST MR] | ToF (IR) | 8 cm to ~50 m | DroneCAN, UART | ✔️ | | +| [Benewake TFmini] | ToF (IR laser) | ~12 m | UART | ~ | | +| [Holybro ST VL53L1X Lidar] | ToF (IR) | up to ~4 m | I2C | ~ | | +| [LeddarOne] | ToF (IR) | 1 cm – 40 m | UART | ~ | | +| [Lidar-Lite] | ToF (IR laser) | 5 cm – 40 m | I2C, PWM | ~ | | +| [LightWare SF11/C] | ToF (IR laser) | up to ~120 m | UART, I2C | ~ | | +| [LightWare LW20/C] | ToF (IR laser) | up to ~100 m | I2C | ~ | Waterproof (IP67) + servo | +| [LightWare SF45/B] | ToF (IR laser) | ~50 m | UART | ~ | Rotary lidar (collision prevention) | +| [MaxBotix I2CXL-MaxSonar-EZ] | Ultrasonic | | I2C | ~ | | +| [RaccoonLab Cyphal & DroneCAN µRANGEFINDER] | ToF (IR) | ~0.1 m – ~8 m | DroneCAN, Cyphal | ~ | | +| [TeraRanger Evo 60 m] | ToF (IR) | 0.5 m – 60 m | I2C | ~ | | +| [TeraRanger Evo 600Hz] | ToF (IR) | 0.75 m – 8 m | I2C | ~ | High update rate (600 Hz) | +| [LightWare SF02] _(disc.)_ | ToF (IR laser) | ~50 m | UART | ~ | Discontinued | +| [LightWare SF10/A] _(disc.)_ | ToF (IR laser) | ~25 m | UART, I2C | ~ | Discontinued | +| [LightWare SF10/B] _(disc.)_ | ToF (IR laser) | ~50 m | UART, I2C | ~ | Discontinued | +| [LightWare SF10/C] _(disc.)_ | ToF (IR laser) | ~100 m | UART, I2C | ~ | Discontinued | +| [Lanbao PSK-CM8JL65-CC5] _(disc.)_ | ToF (IR) | 0.17 m – 8 m | UART | ✖️ | Discontinued | +| [TeraRanger One] _(disc.)_ | ToF (IR) | ~0.2 m – ~14 m (typical) | I2C (adapter required) | ~ | Discontinued | + +[Ainstein US-D1 Standard Radar Altimeter]: ../sensor/ulanding_radar.md +[ARK DIST SR]: ../dronecan/ark_dist.md +[ARK DIST MR]: ../dronecan/ark_dist_mr.md +[Benewake TFmini]: ../sensor/tfmini.md +[Holybro ST VL53L1X Lidar]: #holybro-st-vl53l1x-lidar +[Lanbao PSK-CM8JL65-CC5]: ../sensor/cm8jl65_ir_distance_sensor.md +[LeddarOne]: ../sensor/leddar_one.md +[Lidar-Lite]: ../sensor/lidar_lite.md +[LightWare Lidar]: ../sensor/sfxx_lidar.md +[LightWare SF11/C]: ../sensor/sfxx_lidar.md +[LightWare LW20/C]: ../sensor/sfxx_lidar.md +[LightWare SF45/B]: ../sensor/sfxx_lidar.md +[LightWare SF02]: ../sensor/sfxx_lidar.md +[LightWare SF10/A]: ../sensor/sfxx_lidar.md +[LightWare SF10/B]: ../sensor/sfxx_lidar.md +[LightWare SF10/C]: ../sensor/sfxx_lidar.md +[MaxBotix I2CXL-MaxSonar-EZ]: #maxbotix-i2cxl-maxsonar-ez +[TeraRanger Evo 60 m]: ../sensor/teraranger.md +[TeraRanger Evo 600Hz]: ../sensor/teraranger.md +[TeraRanger One]: ../sensor/teraranger.md + +These adaptors allows you to connect a non-CAN rangefinder via the CAN interface. +Note that the range depends on the connected rangefinder + +| Adaptor | Connections | NDAA | +| ------------------------------------------------------- | ---------------- | ---- | +| **Avionics Anonymous UAVCAN Laser Altimeter Interface** | DroneCAN | ~ | +| [RaccoonLab Cyphal & DroneCAN Rangefinder Adapter] | DroneCAN, Cyphal | ~ | + +[RaccoonLab Cyphal & DroneCAN µRANGEFINDER]: #raccoonlab-cyphal-and-dronecan-μrangefinder +[RaccoonLab Cyphal & DroneCAN Rangefinder Adapter]: #raccoonlab-cyphal-and-dronecan-rangefinder-adapter + +Note that some [Optical Flow](../sensor/optical_flow.md) sensors also include a rangefinder, such as [ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md). + ### ARK DIST SR & ARK DIST MR [ARK DIST SR](../dronecan/ark_dist.md) and [ARK DIST MR](../dronecan/ark_dist_mr.md) are open-source Time-of-Flight (ToF) rangefinder modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively. -It can be connected to the flight controller via its CAN1 port, allowing additional sensors to connect through its CAN2 port. -It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor. -### ARK Flow & AKR Flow MR - -[ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively. -It can be connected to the flight controller via its CAN1 port, allowing additional sensors to connect through its CAN2 port. -It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor. +The sensors support [DroneCAN](../dronecan/index.md), run [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and are packed into a tiny form factor. +They can be connected to a flight controller via its `CAN1` port, allowing additional sensors to connected through the `CAN2` port. ### Holybro ST VL53L1X Lidar