ARK G5H RTK Heading GPS

ARK G5H RTK Heading GPS

The ARK G5H RTK Heading GPS is built around the Septentrio mosaic-G5 P3H module. The P3H supports two antennas connected to MAIN and ANT2, and provides compass-free yaw estimation by handling the moving baseline calculation internally and reporting the heading over DroneCAN as a single GPS node. For a single-antenna variant, see the ARK G5 RTK GPS.

Firmware

Follow the steps for updating the firmware through the flight controller.

DroneCANPX4 Autopilot

See the latest firmware below.

588KB

91-1.16.c8403786.uavcan.bin

Open

ARK G5H RTK Heading GPS Firmware

10KB

ark_g5-gps_canbootloader.bin

Open

ARK G5H RTK Heading GPS Bootloader

Release Notes

• 91-1.16.c8403786 - 2026-2-12

  • Septentrio sensor_gnss_relative

  • General heading improvement

• 91-1.16.c53f8d8e - 2025-12-18

  • Initial release

Pinout

CAN - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

CAN - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

USB C

Pin Number	Signal Name	Voltage
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

Pin Number	Signal Name	Voltage
1	TXD2	3.3V
2	RXD2	3.3V
3	TIMEPULSE	3.3V
4	GND	GND

Debug - 6 Pin JST-SH

Pin Number	Signal Name	Voltage
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.

1. Install RxTools

2. Launch RxControl

3. Connect to the module on the USB serial connection

4. Under File, select "Upgrade Receiver using Current Connection"

5. Select the SUF firmware file downloaded from Septentrio's website

6. Run the upgrade