PX4 Instructions
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Connect the ARK G5 RTK GPS to the flight controller's CAN port using a standard 4-pin JST-GH cable.
Set the following in QGroundControl and reboot the flight controller.
Set to 1 to subscribe to DroneCAN barometer messages
Set to 1 to subscribe to DroneCAN RawIMU messages.
GPS offset from the vehicle center of gravity (meters)
Set the following on the GPS and reboot the node. CAN node parameters can be configured using either:
QGroundControl — each CAN node appears as a separate Component X entry under Vehicle Settings > Parameters.
The DroneCAN GUI Tool.
CANNODE_PUB_MAG
1
Publish magnetometer messages on the CAN bus
CANNODE_TERM
Set to 1 if this is the last node on the CAN bus
CANNODE_PUB_BARO
Set to 1 to publish barometer messages on the CAN bus
CANNODE_PUB_IMU
Set to 1 to publish RawIMU messages on the CAN bus.
SEP_OUT_RATE
Output rate for GNSS data messages: -1 = OnChange, or 50 / 100 / 200 / 500 ms
SEP_PVT_MODE
Bitmask of allowed PVT modes for Rover operation. Bits: 1 = StandAlone, 2 = DGNSS, 4 = RTKFloat, 8 = RTKFixed. Default 15 (all). The receiver uses the most accurate mode available
SEP_RCV_DYN
Receiver dynamics model: 0 = Static, 1 = Quasistatic, 2 = Pedestrian, 3 = Automotive, 4 = RaceCar, 5 = HeavyMachinery, 6 = UAV (default), 7 = Unlimited
The ARK G5 RTK GPS uses the single-antenna mosaic-G5 P3 module. For dual antenna heading, see the ARK G5H RTK Heading GPS.
See our GPS Placement guide for mounting best practices, interference sources, and antenna positioning.
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