ARK GPS
Last updated
Last updated
ARK GPS is an open source , magnetometer, IMU, barometer, buzzer, and safety switch module.
Order this module from:
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
The recommended mounting orientation is with the connectors on the board pointing towards the back of vehicle.
Firmware target: ark_can-gps_default
Bootloader target: ark_can-gps_canbootloader
:::note The ARK GPS will not boot if there is no SD card in the flight controller when powered on. :::
The steps are:
Connect ARK GPS CAN to the Pixhawk CAN.
Once enabled, the module will be detected on boot. GPS data should arrive at 10Hz.
If the sensor is not centred within the vehicle you will also need to define sensor offsets:
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.
(US)
The ARK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the instructions.
The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during .
ARK GPS runs the . As such, it supports firmware update over the CAN bus and .
ARK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see .
You need to set necessary parameters and define offsets if the sensor is not centred within the vehicle. The required settings are outlined below.
In order to use the ARK GPS board, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter to 2
for dynamic node allocation (or 3
if using ).
In QGroundControl set the parameter to 2
or 3
and reboot (see ).
DroneCAN configuration in PX4 is explained in more detail in .
Enable GPS yaw fusion by setting bit 3 of to true.
Enable , , and .
Set to 1
if this is that last node on the CAN bus.
The parameters , and can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.