mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 14:58:53 +08:00
Hamish WilleeandRamon Roche
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
110 lines
4.7 KiB
Markdown
110 lines
4.7 KiB
Markdown
# ARK GPS (DroneCAN)
|
|
|
|
ARK GPS is an open source [DroneCAN](index.md) [GNSS/GPS](../gps_compass/index.md), magnetometer, IMU, barometer, buzzer, and safety switch module.
|
|
|
|
|
|
|
|
## Where to Buy
|
|
|
|
Order this module from:
|
|
|
|
- [ARK Electronics](https://arkelectron.com/product/ark-gps/) (US)
|
|
|
|
## Hardware Specifications
|
|
|
|
- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_GPS)
|
|
- Sensors
|
|
- Ublox M9N GPS
|
|
- Ultra-robust meter-level GNSS positioning
|
|
- Maximum position availability with concurrent reception of 4 GNSS
|
|
- Advanced spoofing and jamming detection
|
|
- Excellent RF interference mitigation
|
|
- Bosch BMM150 Magnetometer
|
|
- Bosch BMP388 Barometer
|
|
- Invensense ICM-42688-P 6-Axis IMU
|
|
- STM32F412CEU6 MCU
|
|
- Safety Button
|
|
- Buzzer
|
|
- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
|
|
- Pixhawk Standard Debug Connector (6 Pin JST SH)
|
|
- Small Form Factor
|
|
- 5cm x 5cm x 1cm
|
|
- LED Indicators
|
|
- Safety LED
|
|
- GPS Fix
|
|
- RGB System Status
|
|
- USA Built
|
|
- Power Requirements
|
|
- 5V
|
|
- 110mA Average
|
|
- 117mA Max
|
|
|
|
## Hardware Setup
|
|
|
|
### Wiring
|
|
|
|
The ARK 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.
|
|
|
|
### Mounting
|
|
|
|
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 GPS runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
|
|
As such, it supports firmware update over the CAN bus and [dynamic node allocation](../dronecan/index.md#node-id-allocation).
|
|
|
|
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).
|
|
|
|
- Firmware target: `ark_can-gps_default`
|
|
- Bootloader target: `ark_can-gps_canbootloader`
|
|
|
|
## PX4 Configuration
|
|
|
|
You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle.
|
|
The required settings are outlined below.
|
|
|
|
::: info
|
|
The ARK GPS will not boot if there is no SD card in the flight controller when powered on.
|
|
:::
|
|
|
|
### Enable DroneCAN
|
|
|
|
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)).
|
|
|
|
The steps are:
|
|
|
|
- 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 GPS CAN to the Pixhawk CAN.
|
|
|
|
Once enabled, the module will be detected on boot.
|
|
GPS data should arrive at 10Hz.
|
|
|
|
DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
|
|
|
|
### Sensor Position Configuration
|
|
|
|
If the sensor is not centred within the vehicle you will also need to define sensor offsets:
|
|
|
|
- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
|
|
- 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).
|
|
- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
|
|
- 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 GPS from the vehicles centre of gravity.
|
|
|
|
## LED Meanings
|
|
|
|
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.
|
|
|
|
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 GPS has `ark_can-gps_canbootloader` installed prior to flashing `ark_can-gps_default`.
|
|
- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
|
|
|
|
## See Also
|
|
|
|
- [ARK GPS](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-gps) (ARK Docs)
|