PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
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        • Ubuntu Setup
        • Windows Setup
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      • Building the Code
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    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
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      • SD Card Layout
    • Simulation
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        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
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        • Worlds
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      • AirSim Simulation
      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
        • ActuatorTest
        • AdcReport
        • Airspeed
        • AirspeedValidated
        • AirspeedWind
        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
        • CameraTrigger
        • CellularStatus
        • CollisionConstraints
        • CollisionReport
        • ControlAllocatorStatus
        • Cpuload
        • DebugArray
        • DebugKeyValue
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        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
        • EscReport
        • EscStatus
        • EstimatorAidSource1d
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        • EstimatorAidSource3d
        • EstimatorBias
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        • EstimatorEventFlags
        • EstimatorGpsStatus
        • EstimatorInnovations
        • EstimatorSelectorStatus
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        • GpioConfig
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        • GpsDump
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        • Gripper
        • HealthReport
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        • HomePosition
        • HoverThrustEstimate
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        • IridiumsbdStatus
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On this page
  • Where to Buy
  • Hardware Specifications
  • Hardware Setup
  • Wiring
  • Mounting
  • Firmware Setup
  • Flight Controller Setup
  • Enabling DroneCAN
  • PX4 Configuration
  • Setting Up Moving Baseline & GPS Heading
  • LED Meanings
  • Updating Ublox F9P Module
  1. Hardware (Drones&Parts)
  2. Flight Controller Peripherals
  3. RTK GPS

ARK RTK GPS

PreviousRTK GPSNextRTK GPS Heading with Dual u-blox F9P

Last updated 1 year ago

ARK RTK GPS is an open source , , magnetometer, barometer, IMU, buzzer, and safety switch module.

Where to Buy

Order this module from:

Hardware Specifications

  • Sensors

    • Ublox F9P GPS

      • Multi-band GNSS receiver delivers centimeter level accuracy in seconds

      • Concurrent reception of GPS, GLONASS, Galileo and BeiDou

      • Multi-band RTK with fast convergence times and reliable performance

      • High update rate for highly dynamic applications

      • Centimeter accuracy in a small and energy efficient module

    • 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)

  • F9P “UART 2” Connector

    • 3 Pin JST GH

    • TX, RX, GND

  • Pixhawk Standard Debug Connector (6 Pin JST SH)

  • LED Indicators

    • Safety LED

    • GPS Fix

    • RTK Status

    • RGB system status

  • USA Built

  • Power Requirements

    • 5V

    • 170mA Average

    • 180mA Max

Hardware Setup

Wiring

Mounting

The recommended mounting orientation is with the connectors on the board pointing towards the back of vehicle.

Firmware Setup

Firmware target: ark_can-rtk-gps_default Bootloader target: ark_can-rtk-gps_canbootloader

Flight Controller Setup

Enabling DroneCAN

The steps are:

  • Connect ARK RTK GPS CAN to the Pixhawk CAN.

Once enabled, the module will be detected on boot. GPS data should arrive at 10Hz.

PX4 Configuration

Setting Up Moving Baseline & GPS Heading

The simplest way to set up moving baseline and GPS heading with two ARK RTK GPS modules is via CAN, though it can be done via UART to reduce traffic on the CAN bus if desired.

Note that a heading is only output if the Rover is in RTX Fixed mode. It will not output a heading in RTK Float.

Setup via CAN:

  • Ensure the ARK RTK GPS modules are connected to the Pixhawk via CAN (one can connect to another's secondary CAN port). The two ARK RTK GPS must be connected to the same CAN bus for corrections to be sent.

  • Choose one ARK RTK GPS to be the Rover and one to be the Moving Base.

  • Reopen QGroundControl, go to parameters, and select Standard to hide that dropdown and select Component ## to view each of your ARK RTK GPS's CAN node parameters :::note Component ## won't be visible unless the ARK RTK GPS is connected to the Pixhawk prior to opening QGroundControl. :::

  • On the Rover, set the following:

  • On the Moving Base, set the following:

Setup via UART:

  • Ensure the ARK RTK GPS modules are connected to the Pixhawk via CAN.

  • Ensure the ARK RTK GPS modules are connected to each other via their UART2 port (UART2 pinout shown below). Note that TX of one module needs to connect with RX of the other.

Pin
Name

1

TX

2

RX

3

GND

  • On the Rover, set the following:

  • On the Moving Base, set the following:

LED Meanings

  • The GPS status lights are located to the right of the connectors

    • Blinking green is GPS fix

    • Blinking blue is received corrections and RTK Float

    • Solid blue is RTK Fixed

  • The CAN status lights are located top the left of the connectors

    • Slow blinking green is waiting for CAN connection

    • Fast blinking green is normal operation

    • Slow blinking green and blue is CAN enumeration

    • Slow blinking green, blue, and red is firmware update in progress

    • Blinking red is error

      • 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 RTK GPS has ark_can-rtk-gps_canbootloader installed prior to flashing ark_can-rtk-gps_default

        • Remove binaries from the root and ufw directories of the SD card and try to build and flash again

Updating Ublox F9P Module

ARK RTK GPS comes with the Ublox F9P module up to date with version 1.13 or newer. However, you can check the version and update the firmware if desired.

The steps are:

  • Scroll down and click on the "Show Legacy Documents" box

  • Scroll down again to Firmware Update and download your desired firmware (at least version 1.13 is needed)

  • While holding down the safety switch on the ARK RTK GPS, connect it to power via one of its CAN ports and hold until all 3 LEDs blink rapidly

  • Connect the ARK RTK GPS to your PC via its debug port with a cable such as the Black Magic Probe or an FTDI

  • To update the firmware:

    • Select Tools, Firmware Update

    • The Firmware image field should be the .bin file downloaded from the u-blox ZED-F9P website

    • Check the "Use this baudrate for update" checkbox and select 115200 from the drop-down

    • Ensure the other checkboxes are as shown below

    • Push the green GO button on the bottom left

(US)

The ARK RTK 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 RTK GPS runs the . As such, it supports firmware update over the CAN bus and .

ARK RTK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the .

In order to use the ARK RTK GPS, 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 ).

You need to set necessary parameters and define offsets if the sensor is not centred within the vehicle:

Enable GPS yaw fusion by setting bit 3 of to true.

Enable GPS blending to ensure the heading is always published by setting to 7 (all three bits checked).

Enable , , and .

The parameters , and can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity.

Set to 1 on the GPS if this it that last node on the CAN bus.

to 3

to 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.

to 1.

to 4.

to 1.

to 1

to 0 if your Rover is in front of your Moving Base, 90 if Rover is right of Moving Base, 180 if Rover is behind Moving Base, or 270 if Rover is left of Moving Base.

to 2.

and install on your PC (Windows only)

Open the

Open u-center, select the COM port for the ARK RTK GPS and connect

Check the current firmware version by selecting View, Messages View, UBX, MON, VER

"Firmware Update SUCCESS" should be displayed if it updated successfully

ARK Electronics
Open Source Schematic and BOM
DroneCAN
Download u-center from u-blox.com
u-blox ZED-F9P website
PX4 configuration
DroneCAN
RTK GPS
u-blox F9P
PX4 cannode firmware
DroneCAN ESCs
Finding/Updating Parameters
CAN Wiring
cannode firmware build instructions
dynamic node allocation
ARK RTK GPS
U-Center Connect
Check Version
Firmware Update
UAVCAN_ENABLE
UAVCAN_ENABLE
EKF2_GPS_CTRL
SENS_GPS_MASK
UAVCAN_SUB_GPS
UAVCAN_SUB_MAG
UAVCAN_SUB_BARO
EKF2_GPS_POS_X
EKF2_GPS_POS_Y
EKF2_GPS_POS_Z
CANNODE_TERM
GPS_UBX_MODE
GPS_YAW_OFFSET
CANNODE_SUB_MBD
GPS_UBX_MODE
CANNODE_PUB_MBD
GPS_UBX_MODE
GPS_YAW_OFFSET
GPS_UBX_MODE