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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
118 lines
5.7 KiB
Markdown
118 lines
5.7 KiB
Markdown
# ARK GPS (DroneCAN)
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ARK GPS is an open source [DroneCAN](index.md) [GNSS/GPS](../gps_compass/index.md), magnetometer, IMU, barometer, buzzer, and safety switch 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-gps/) (US)
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## Hardware Specifications
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- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_GPS)
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- Sensors
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- Ublox M9N GPS
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- Ultra-robust meter-level GNSS positioning
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- Maximum position availability with concurrent reception of 4 GNSS
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- Advanced spoofing and jamming detection
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- Excellent RF interference mitigation
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- Bosch BMM150 Magnetometer
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- Bosch BMP388 Barometer
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- Invensense ICM-42688-P 6-Axis IMU
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- STM32F412CEU6 MCU
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- Safety Button
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- Buzzer
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- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
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- Pixhawk Standard Debug Connector (6 Pin JST SH)
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- Small Form Factor
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- 5cm x 5cm x 1cm
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- LED Indicators
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- Safety LED
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- GPS Fix
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- RGB System Status
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- USA Built
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- Power Requirements
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- 5V
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- 110mA Average
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- 117mA Max
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## Hardware Setup
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### Wiring
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The ARK GPS is connected to the CAN bus using a Pixhawk standard 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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ARK GPS runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
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As such, it supports firmware update over the CAN bus and [dynamic node allocation](../dronecan/index.md#node-id-allocation).
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ARK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
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- Firmware target: `ark_can-gps_default`
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- Bootloader target: `ark_can-gps_canbootloader`
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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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The required settings are outlined below.
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::: info
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The ARK GPS will not boot if there is no SD card in the flight controller when powered on.
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:::
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### Enable DroneCAN
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In order to use the ARK GPS board, 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 GPS CAN to the Pixhawk CAN.
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Once enabled, the module will be detected on boot.
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GPS data should arrive at 10Hz.
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DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
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### Sensor Position Configuration
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If the sensor is not centred within the vehicle you will also need to define sensor offsets:
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- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
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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 GPS from the vehicles centre of gravity.
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### ARK GPS Configuration
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You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
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| <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. |
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| <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. |
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## LED Meanings
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You will see green, blue and red LEDs on the ARK GPS when it is being flashed, and a blinking green LED if it is running properly.
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If you see a red LED there is an error and you should check the following:
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- Make sure the flight controller has an SD card installed.
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- Make sure the ARK GPS has `ark_can-gps_canbootloader` installed prior to flashing `ark_can-gps_default`.
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- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
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## See Also
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- [ARK GPS](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-gps) (ARK Docs)
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