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113 lines
5.3 KiB
Markdown
113 lines
5.3 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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## Де купити
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Замовте цей модуль з:
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- [ARK Electronics](https://arkelectron.com/product/ark-g5-rtk-gps/) (US)
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## Характеристики обладнання
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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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- Датчики
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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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- Кнопка безпеки
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- Зумер
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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 індикатори
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- GPS Fix
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- Статус RTK
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- RGB Статус системи
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- USA Built
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- NDAA Compliant
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- Вимоги до живлення
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- 5V
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- 270mA
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- Розміри
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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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## Налаштування програмного забезпечення
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### Підключення
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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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### Встановлення
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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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## Налаштування прошивки
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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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## Налаштування польотного контролера
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### Увімкнення 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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Кроки наступні:
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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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Після активації модуль буде виявлено при завантаженні.
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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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### Конфігурація PX4
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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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## Значення LED індикаторів
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The GPS status lights are located to the right of the connectors:
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- Миготіння зеленого - це фіксація GPS
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- Миготіння синього - це отримані корекції та RTK Float
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- Сталий синій - це RTK зафіксовано
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## Дивіться також
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- [ARK G5 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-g5-rtk-gps) (ARK Docs)
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