> For the complete documentation index, see [llms.txt](https://docs.arkelectron.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.arkelectron.com/products/gps/ark-g5-rtk-heading-gps/firmware.md). # Firmware Follow the steps for updating the firmware through the flight controller. {% embed url="" %} ## Downloads * [ARK G5 RTK Heading GPS Firmware](https://downloads.arkelectron.com/firmware/ark_g5-gps/latest/application.uavcan.bin) * [ARK G5 RTK Heading GPS Bootloader](https://downloads.arkelectron.com/firmware/ark_g5-gps/latest/bootloader.bin) * [All releases and SHA-256 checksums](https://downloads.arkelectron.com/firmware/ark_g5-gps/) Node firmware 91-1.18.73506671 and later can rewrite its own CAN bootloader: set `SYS_BL_UPDATE` to `1` on the node. The flight controller logs `bootloader updated`, `bootloader unchanged` or `bootloader update failed`, and the parameter returns to `0`. ## Receiver Firmware The Septentrio G5 module firmware can be updated using the [Septentrio RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) application. 1. Install [RxTools](https://www.septentrio.com/en/products/gps-gnss-receiver-software/rxtools) 2. Launch RxControl 3. Connect to the module on the USB serial connection\ ![](https://1515919775-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FOwmEn1N45AR4WjMQhHlu%2Fuploads%2FXCfauOJ5IWX0Q6l5SEwj%2Fimage.png?alt=media\&token=e2a331e1-8ce0-4c04-b0c7-eb0a30b64614) 4. Under File, select "Upgrade Receiver using Current Connection"\ ![](https://1515919775-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FOwmEn1N45AR4WjMQhHlu%2Fuploads%2FnE74TV9ME3FbjPUxnWCB%2Fimage.png?alt=media\&token=6674ba79-57a1-46cc-93f6-945c3b87780d) 5. Select the SUF firmware file for your module, downloaded from Septentrio's website: [P3H](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H#resources), [P6](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P6#resources) or [P8](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-g5-p8#resources)\ ![](https://1515919775-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FOwmEn1N45AR4WjMQhHlu%2Fuploads%2FHSoa09nCC7K8MROkS0O8%2Fimage.png?alt=media\&token=bafebf4b-8042-4aa2-a88b-3964f9172dea) 6. Run the upgrade ## Node Parameters Set these on the GPS node, then reboot it. Use [QGroundControl](https://docs.px4.io/main/en/dronecan/#qgc-cannode-parameter-configuration), where each CAN node is a separate *Component X* under **Vehicle Settings > Parameters**, or the [DroneCAN GUI Tool](/knowledge-base/knowledge-base/dronecan-gui-tool-guide.md). | Parameter | Default | Description | | ------------------ | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `CANNODE_TERM` | 0 | Set to `1` on the last node of the CAN bus | | `CANNODE_NODE_ID` | 0 | Fixed node ID (1–125). `0` uses dynamic node allocation | | `CANNODE_PUB_MAG` | 1 | Publish magnetometer data | | `CANNODE_PUB_BAR` | 1 | Publish barometer data | | `CANNODE_PUB_IMU` | 0 | Publish `RawIMU` data. PX4 also needs `UAVCAN_SUB_IMU` set to `1` | | `CANNODE_SUB_RTCM` | 1 | Receive RTCM corrections from the flight controller | | `CANNODE_PUB_MBD` | 0 | Publish `MovingBaselineData`. Set to `1` on a moving base | | `CANNODE_SUB_MBD` | 1 | Receive `MovingBaselineData` from a moving base | | `SEP_MODE` | 0 | `0` rover, `1` moving base, `2` moving-base rover | | `SEP_ANT_MODE` | 0 | `0` keeps the antenna mode saved in the receiver (dual antenna on the P3H, single on the P6 and P8 unless changed in the web GUI), `1` single antenna, `2` dual antenna. `1` and `2` are applied without saving them in the receiver, which restarts once (about 10 s) at each power-up where its saved mode differs | | `SEP_DUAL_ANT` | 3 | Ambiguity types allowed for dual antenna heading: `1` fixed, `2` float, `3` both. `0` disables heading | | `SEP_PVT_MODE` | 15 | Bitmask of allowed PVT modes for Rover operation. Bits: `1` = StandAlone, `2` = DGNSS, `4` = RTKFloat, `8` = RTKFixed, `16` = SBAS, `32` = PPP (Galileo HAS). The receiver uses the most accurate mode available | | `SEP_RCV_DYN` | 6 | Receiver dynamics model: `0` = Static, `1` = Quasistatic, `2` = Pedestrian, `3` = Automotive, `4` = RaceCar, `5` = HeavyMachinery, `6` = UAV, `7` = Unlimited | | `SEP_OUT_RATE` | 50 | Output rate for GNSS data messages: `-1` = OnChange, or `10` / `20` / `40` / `50` / `100` / `200` / `500` ms. Do not use OnChange on a moving base or its rover | | `SYS_BL_UPDATE` | 0 | Set to `1` to rewrite the CAN bootloader from the running firmware | ## Release Notes ### v1.18.0.2 - 73506671 - 2026-10-06 * ArduPilot no longer takes a heading the node marks invalid as its GPS yaw: the node sends it with a zero baseline, which ArduPilot rejects. With v1.18.0.1, ArduPilot could block arming with `Internal errors 0x400` while the heading solution was not fixed * Bootloader update from the running firmware (`SYS_BL_UPDATE`) ### v1.18.0.1 - a784eb57 - 2026-10-01 * PX4 v1.18 base * Moving base and moving-base rover (`SEP_MODE`) * Single or dual antenna on the P6 and P8 (`SEP_ANT_MODE`) * Heading reported only with fixed ambiguities; the antenna mounting is set on the flight controller (`SEP_OFFS_YAW` and `SEP_OFFS_PITCH` removed) * SBAS and Galileo HAS available in `SEP_PVT_MODE`, off by default * Jamming, spoofing, OSNMA and receiver error reporting * Receiver reconfigured after it restarts ### v1.16 - c8403786 - 2026-02-12 * Septentrio `sensor_gnss_relative` * General heading improvement ### v1.16 - c53f8d8e - 2025-12-18 * Initial release --- # Agent Instructions This documentation is published with GitBook. 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