mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 13:38:52 +08:00
Jacob Dahl
89855926ef
* sensors: move GPS antenna offsets to per-receiver parameters
Move antenna position configuration from the single EKF2_GPS_POS_X/Y/Z
parameter set into per-receiver SENS_GPS{0,1}_OFF{X,Y,Z} parameters in
the sensors module. Each offset slot is matched to a physical receiver
by device ID (SENS_GPS{0,1}_ID), falling back to uORB instance index
when no IDs are configured.
The antenna offset is now carried through the SensorGps uORB message
and blended alongside other GPS states when multi-receiver blending is
active, so EKF2 receives the correct lever arm for whichever receiver
(or weighted combination) is selected.
- Add antenna_offset_{x,y,z} fields to SensorGps.msg
- Remove EKF2_GPS_POS_X/Y/Z params; EKF2 reads offset from gnssSample
- Add SENS_GPS{0,1}_ID and SENS_GPS{0,1}_OFF{X,Y,Z} params (module.yaml)
- Blend antenna offsets in GpsBlending (weighted average)
- Add unit tests for single, blended, and failover antenna offset cases
- Migrate params.c to module.yaml for the vehicle_gps_position module
* sensors: gps_blending: add asymmetric weight and fallthrough offset tests
Add two additional antenna offset test cases:
- dualReceiverAsymmetricWeightAntennaOffset: verify that unequal eph
values produce correctly skewed blend weights (0.8/0.2) and that the
output antenna offset reflects the weighted average
- blendingFallthroughAntennaOffset: verify that when blending is enabled
but can_do_blending evaluates false (eph=0), the non-blending path
correctly assigns the selected receiver's antenna offset
* feat(param_translation): translate EKF2_GPS_POS_ to SENS_GPS0_OFF_
* fix(msgs): proper formatting
* chore(msg): 0 if invalid/unknown
* fix(ROMFS): migrate EKF2_GPS_POS_ params
* fix(docs): migrate EKF2_GPS_POS_ params
* fix(blending): unsigned param
* Update msg/SensorGps.msg
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* fix(sensors/gps): remove 'values:' tag in module.yaml
* fix(sensors/gps): unsigned instance index
* fix(blending): restore const on gps_blend_states()
Move antenna offset blending into blend_gps_data() where the
weights are computed, keeping gps_blend_states() const.
* fix(sensors/gps): fix msg annotation and restore SENS_GPS_PRIME values
Remove incorrect @invalid NaN annotation from antenna offset fields
(0.0 default is correct, not a sentinel). Restore values tag for
SENS_GPS_PRIME so QGC shows a dropdown.
* fix(gps_blending): fix pre-existing bug to clear _gps_updated flags
The loop iterates over i but always clears gps_select_index. The intent is to clear
all updated flags, but only the selected one gets cleared (N times)
* test(gps_blending): add stale update flag regression test
113 lines
4.8 KiB
Markdown
113 lines
4.8 KiB
Markdown
# ARK G5 RTK GPS
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::: info
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This GPS module is made in the USA and NDAA compliant.
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:::
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[ARK G5 RTK GPS](https://arkelectron.com/product/ark-g5-rtk-gps/) is a [DroneCAN](index.md) quad-band [RTK GPS](../gps_compass/rtk_gps.md).
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The module incorporates the [Septentrio mosaic-G5 P3 Ultra-compact high-precision GPS/GNSS receiver module](https://www.u-blox.com/en/product/zed-x20p-module), magnetometer, barometer, IMU, and buzzer module.
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## Where to Buy
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Order this module from:
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- [ARK Electronics](https://arkelectron.com/product/ark-g5-rtk-gps/) (US)
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## Hardware Specifications
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- [DroneCAN](index.md) RTK GNSS, Magnetometer, Barometer, IMU, and Buzzer Module
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- [Dronecan Firmware Updating](../dronecan/index.md#firmware-update)
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- Sensors
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- [Septentrio mosaic-G5 P3 Ultra-compact high-precision GPS/GNSS receiver module](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3)
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- All-band all constellation GNSS receiver
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- All-in-view satellite tracking: multi-constellation, quad-band GNSS module receiver
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- Full raw data with positioning measurements and Galileo HAS positioning service compatibility
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- Best-in-class RTK cm-level positioning accuracy
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- Advanced GNSS+ algorithms
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- 20Hz update rate
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- [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
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- [Bosch BMP390 Barometer](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
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- [Invensense ICM-42688-P 6-Axis IMU](https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/)
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- STM32F412VGH6 MCU
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- Safety Button
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- Buzzer
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- Two CAN Connectors (Pixhawk Connector Standard 4-pin JST GH)
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- G5 "UART 2" Connector
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- 4-pin JST GH
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- TX, RX, PPS, GND
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- G5 USB C
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- Debug Connector (Pixhawk Connector Standard 6-pin JST SH)
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- LED Indicators
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- GPS Fix
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- RTK Status
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- RGB system status
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- USA Built
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- NDAA Compliant
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- Power Requirements
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- 5V
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- 270mA
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- Dimensions
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- Without Antenna
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- 48.0mm x 40.0mm x 15.4mm
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- 13.0g
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- With Antenna
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- 48.0mm x 40.0mm x 51.0mm
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- 43.5g
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- Includes
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- CAN Cable (Pixhawk Connector Standard 4-pin)
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- Full-Frequency Helical GPS Antenna
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## Hardware Setup
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### Wiring
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The ARK G5 RTK GPS is connected to the CAN bus using a [Pixhawk connector standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) 4-pin JST GH cable.
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For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
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### Mounting
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The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
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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).
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## Firmware Setup
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The Septentrio G5 module firmware can be updated using the Septentrio [RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) application.
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## Flight Controller Setup
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### Enabling DroneCAN
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In order to use the ARK G5 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)).
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The steps are:
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- 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)).
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- Connect ARK G5 RTK GPS CAN to the Pixhawk CAN.
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Once enabled, the module will be detected on boot.
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There is also CAN built-in bus termination via [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM)
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### PX4 Configuration
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You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
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- 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).
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- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK G5 RTK GPS from the vehicle's centre of gravity.
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## LED Meanings
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The GPS status lights are located to the right of the connectors:
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- Blinking green is GPS fix
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- Blinking blue is received corrections and RTK Float
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- Solid blue is RTK Fixed
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## See Also
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- [ARK G5 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-g5-rtk-gps) (ARK Docs)
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