ARK G5 RTK GPS
G5 vs G5H
The ARK G5 RTK GPS and the ARK G5H RTK GPS share the same PCB design but use different Septentrio G5 modules. The G5 uses the P3 and the G5H uses the P3H. Note that the G5/P3 only support a single antenna and the ANT2 connector is not active.
DroneCAN
Please read through the PX4 Documentation for DroneCAN GPS parameter configuration.
Firmware
Follow the steps for updating the firmware through the flight controller.
See the latest firmware below.
Release Notes
91-1.16.c53f8d8e - 2025-12-18
Initial release
Parameter Reference
SEP_OFFS_YAW (float)
Heading offset angle for dual antenna GPS setups that support heading estimation. Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the Rover/ANT2 antenna is in front. The offset angle increases clockwise. Set this to 90 if the ANT2 antenna is placed on the right side of the vehicle and the Moving Base/MAIN antenna is on the left side.
Default: 0 Min: -360 Max: 360 Unit: degree
SEP_OFFS_PITCH (float)
Vertical offsets can be compensated for by adjusting the Pitch offset. Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.
Default: 0 Min: -90 Max: 90 Unit: degree
SEP_OUT_RATE (enum)
Configures the output rate for GNSS data messages.
-1: OnChange 50: 50 ms 100: 100 ms 200: 200 ms 500: 500 ms
Pinout
CAN - 4 Pin JST-GH
1
5V
5.0V
2
CAN_P
5.0V
3
CAN_N
5.0V
4
GND
GND
CAN - 4 Pin JST-GH
1
5V
5.0V
2
CAN_P
5.0V
3
CAN_N
5.0V
4
GND
GND
USB C
2, 11
VBUS
5.0V
5, 8
USB_N
3.3V
6,7
USB_P
3.3V
1,12
GND
GND
GPS UART2 + Timepulse - 5 Pin JST-GH
1
TXD2
3.3V
2
RXD2
3.3V
3
TIMEPULSE
3.3V
4
GND
GND
Debug - 6 Pin JST-SH
1
3.3V
3.3V
2
USART2_TX
3.3V
3
USART2_RX
3.3V
4
FMU_SWDIO
3.3V
5
FMU_SWCLK
3.3V
6
GND
GND
3D Model
Find 3D models and case files at https://github.com/ARK-Electronics/ARK_G5_RTK_GPS
Septentrio G5 Module Firmware Updating
The Septentrio G5 module firmware can be updated using the Septentrio RxTools application.
Install RxTools
Launch RxControl
Connect to the module on the USB serial connection
Under File, select "Upgrade Receiver using Current Connection"
Select the SUF firmware file downloaded from Septentrio's website
Run the upgrade
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