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Prettier and minor fixes

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Hamish Willee
2025-12-01 09:20:17 -09:00
committed by Jacob Dahl
parent 8c2a25edf8
commit e7be62a342
7 changed files with 101 additions and 44 deletions
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docs/en/dronecan/ark_dist.md
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# ARK DIST SR
ARK DIST SR is a low range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
It has an approximate range of between 8cm to 30m.
![ARK DIST SR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
@@ -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)
docs/en/dronecan/ark_dist_mr.md
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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)
docs/en/dronecan/ark_rtk_gps_l1_l2.md
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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 |
| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
### Setting Up Rover and Fixed Base
docs/en/dronecan/ark_x20_rtk_gps.md
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You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself:
| Parameter | Description |
| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
| Parameter | Description |
| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
### Setting Up Rover and Fixed Base