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docs/ko/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)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-dist-sr/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
- 센서
- [Broadcom AFBR-S50LV85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lv85d)
- Typical distance range up to 30m
- Integrated 850 nm laser light source
- Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
- Operation of up to 200k Lux ambient light
- Reference Pixel for system health monitoring
- Works well on all surface conditions
- Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- Pixhawk Standard UART Connector (6 Pin JST SH)
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- Small Form Factor
- 2.0cm x 2.8cm x 1.4cm
- 4g
- LED Indicators
- USA Built
- NDAA Compliant
- Power Requirements
- 5v
- 84mA Average
- 86mA Max
## 하드웨어 설정
### 배선
The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
## Firmware Setup
ARK DIST SR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
## PX4 설정
### DroneCAN
#### 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 DIST SR CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
Distance sensor data should arrive at 40Hz.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
#### CAN Configuration
First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
Set the following parameters in _QGroundControl_:
- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `30`.
See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
### UART/MAVLink Configuration
If connecting via a UART set the following parameters in _QGroundControl_:
- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off).
- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
## See Also
- [ARK DIST SR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)
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# ARK DIST MR
ARK DIST MR is a mid range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
![ARK DIST MR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-dist-mr/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
- 센서
- [Broadcom AFBR-S50LX85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lx85d)
- Typical distance range up to 50m
- Integrated 850 nm laser light source
- Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
- Operation of up to 200k Lux ambient light
- Reference Pixel for system health monitoring
- Works well on all surface conditions
- Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- Pixhawk Standard UART Connector (6 Pin JST SH)
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- Small Form Factor
- 2.0cm x 2.8cm x 1.4cm
- 4g
- LED Indicators
- USA Built
- NDAA Compliant
- Power Requirements
- 5v
- 78mA Average
- 84mA Max
## 하드웨어 설정
### 배선
The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
## Firmware Setup
ARK DIST MR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
## PX4 설정
### DroneCAN
#### 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 DIST SR CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot.
Distance sensor data should arrive at 40Hz.
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
#### CAN Configuration
First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
Set the following parameters in _QGroundControl_:
- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `50`.
See also [Distance Sensor/Range Finder in _DroneCAN > Subscriptions and Publications_](../dronecan/#distance-sensor-range-finder).
### UART/MAVLink Configuration
If connecting via a UART set the following parameters in _QGroundControl_:
- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) to `0` (off).
- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
- Set `SER_XXX_BAUD` to `115200`, where `XXX` is specific to the port you are using (such as [SER_GPS2_BAUD](../advanced_config/parameter_reference.md#SER_GPS2_BAUD)).
- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
## See Also
- [ARK DIST MR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)
docs/ko/dronecan/ark_rtk_gps.md
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- Multi-band RTK with fast convergence times and reliable performance
- High update rate for highly dynamic applications
- Centimetre accuracy in a small and energy efficient module
- Moving Base for Heading
- Bosch BMM150 Magnetometer
- Bosch BMP388 Barometer
- Invensense ICM-42688-P 6-Axis IMU
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# ARK RTK GPS L1 L5
[ARK RTK GPS L1 L5](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) is an open source [DroneCAN](index.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module), magnetometer, barometer, IMU, buzzer, and safety switch module.
![ARK RTK GPS L1 L5](../../assets/hardware/gps/ark/ark_rtk_gps_l1_l5.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-rtk-gps-l1-l5/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
- 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
- Does not Support Moving Base for Heading
- 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 L1 L5 is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
### 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 L1 L5 runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
ARK RTK GPS L1 L5 boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
Firmware target: `ark_can-rtk-gps_default`
Bootloader target: `ark_can-rtk-gps_canbootloader`
## Flight Controller Setup
### Enabling DroneCAN
In order to use the ARK RTK GPS L1 L5, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
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 L1 L5 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 L1 L5 from the vehicles centre of gravity.
### ARK RTK GPS L1 L5 Configuration
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
### Setting Up Rover and Fixed Base
Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
PX4 DroneCAN parameters:
- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
:::info
Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
:::
For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
## LED 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
- Fast blinking blue and red is firmware update in progress
- Blinking red is error
- If you see a red LED there is an error and you should check the following
- Make sure the flight controller has an SD card installed
- Make sure the ARK RTK GPS L1 L5 has `ark_can-rtk-gps_canbootloader` installed prior to flashing `ark_can-rtk-gps_default`
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again
### Updating Ublox F9P Module
ARK RTK GPS L1 L5 comes with the Ublox F9P module up to date with version 1.13 or newer. However, you can check the version and update the firmware if desired.
단계는 다음과 같습니다:
1. [Download u-center from u-blox.com](https://www.u-blox.com/en/product/u-center) and install on your PC (Windows only)
2. Open the [u-blox ZED-F9P website](https://www.u-blox.com/en/product/zed-f9p-module#tab-documentation-resources)
3. Scroll down and click on the "Show Legacy Documents" box
4. Scroll down again to Firmware Update and download your desired firmware (at least version 1.13 is needed)
5. While holding down the safety switch on the ARK RTK GPS L1 L5, connect it to power via one of its CAN ports and hold until all 3 LEDs blink rapidly
6. Connect the ARK RTK GPS L1 L5 to your PC via its debug port with a cable such as the Black Magic Probe or an FTDI
7. Open u-center, select the COM port for the ARK RTK GPS L1 L5 and connect
![U-Center Connect](../../assets/hardware/gps/ark/ark_rtk_gps_ucenter_connect.png)
8. Check the current firmware version by selecting View, Messages View, UBX, MON, VER
![Check Version](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_version.png)
9. To update the firmware:
1. Select Tools, Firmware Update
2. The Firmware image field should be the .bin file downloaded from the u-blox ZED-F9P website
3. Check the "Use this baudrate for update" checkbox and select 115200 from the drop-down
4. Ensure the other checkboxes are as shown below
5. Push the green GO button on the bottom left
6. "Firmware Update SUCCESS" should be displayed if it updated successfully
![Firmware Update](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_f9p_firmware_update.png)
## See Also
- [ARK RTK GPS L1 L5 Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) (ARK Docs)
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# ARK X20 RTK GPS
[ARK X20 RTK GPS](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) is an open source [DroneCAN](index.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox ZED-X20P all-band high precision GNSS module](https://www.u-blox.com/en/product/zed-x20p-module), magnetometer, barometer, IMU, buzzer, and safety switch module.
![ARK X20 RTK GPS](../../assets/hardware/gps/ark/ark_x20_rtk_gps.jpg)
## 구매처
Order this module from:
- [ARK Electronics](https://arkelectron.com/product/ark-x20-rtk-gps/) (US)
## Hardware Specifications
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
- 센서
- Ublox ZED-X20P
- All-band all constellation GNSS receiver
- Best position accuracy and availability in different environments
- RTK, PPP-RTK and PPP algorithms expanding the limits of performance
- Highest quality GNSS raw data
- u-blox end-to-end hardened security
- 25Hz update rate
- ST IIS2MDC Magnetometer
- Bosch BMP390 Barometer
- Invensense ICM-42688-P 6-Axis IMU
- STM32F412VGH6 MCU
- Safety Button
- 부저
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
- X20 “UART 2” Connector
- 4 Pin JST GH
- TX, RX, PPS, GND
- I2C Expansion Connector
- 4 Pin JST-GH
- 5.0V, SCL, SDA, GND
- Pixhawk Standard Debug Connector (6 Pin JST SH)
- LED Indicators
- Safety LED
- GPS Fix
- RTK Status
- RGB system status
- USA Built
- Power Requirements
- 5V
- 144mA Average
- 157mA Max
## 하드웨어 설정
### 배선
The ARK X20 RTK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
### 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 X20 RTK GPS runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
ARK X20 RTK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
Firmware target: `ark_can-rtk-gps_default`
Bootloader target: `ark_can-rtk-gps_canbootloader`
## Flight Controller Setup
### Enabling DroneCAN
In order to use the ARK X20 RTK GPS, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
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 X20 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 X20 RTK GPS from the vehicles centre of gravity.
### ARK X20 RTK GPS Configuration
You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-127 to use a static node ID. |
| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
### Setting Up Rover and Fixed Base
Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
PX4 DroneCAN parameters:
- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
- Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
:::info
Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
:::
For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
## LED 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
- Fast blinking blue and red is firmware update in progress
- Blinking red is error
- If you see a red LED there is an error and you should check the following
- Make sure the flight controller has an SD card installed
- Make sure the ARK X20 RTK GPS has `ark_can-rtk-gps_canbootloader` installed prior to flashing `ark_can-rtk-gps_default`
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again
## See Also
- [ARK X20 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) (ARK Docs)
docs/ko/dronecan/holybro_h_rtk_zed_f9p_gps.md
+10 -10
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@@ -64,10 +64,10 @@ 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/).
- 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.
@@ -98,14 +98,14 @@ 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_).
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.
- `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)
docs/ko/dronecan/index.md
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@@ -67,6 +67,8 @@ Supported hardware includes (this is not an exhaustive list):
- [RaccoonLab RM3100 Magnetometer](https://docs.raccoonlab.co/guide/gps_mag_baro/mag_rm3100.html)
- Distance sensors
- [ARK Dist](ark_dist.md)
- [Ark Dist MR](ark_dist_mr.md)
- [ARK Flow](ark_flow.md)
- [Ark Flow MR](ark_flow_mr.md)
- [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
docs/ko/dronecan/pomegranate_systems_pm.md
+5 -5
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@@ -45,11 +45,11 @@ Source code and build instructions can be found on [the bitbucket](https://bitbu
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`
- 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:
docs/ko/dronecan/raccoonlab_power.md
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@@ -7,9 +7,9 @@ CAN power connectors are designed for light unmanned aerial (UAV) and other vehi
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.
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.
It behaves as Cyphal/DroneCAN node.
Please refer to the RaccoonLab docs [CAN Power Connectors](https://docs.raccoonlab.co/guide/pmu/power/) page.