PX4 Instructions
The ARK G5H RTK Heading GPS can be operated as a single-antenna GPS or with two antennas to provide GNSS-derived heading. Start with the Single GPS Configuration below, then add the Dual Antenna Heading Configuration if you want heading.
Single GPS Configuration
Connect the ARK G5H RTK Heading GPS to the flight controller's CAN port using a standard 4-pin JST-GH cable.
Flight Controller Parameters
Set the following in QGroundControl and reboot the flight controller.
Required
Optional
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)
CAN Node Parameters
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.
Required
CANNODE_PUB_MAG
1
Publish magnetometer messages on the CAN bus
Optional
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
Dual Antenna Heading Configuration
The G5H provides yaw estimation using two GNSS antennas on a single DroneCAN node. The mosaic-G5 P3H module handles the calculation internally and reports the heading over DroneCAN.
Hardware Setup
Connect the ARK G5H RTK Heading GPS to the flight controller's CAN port using a standard 4-pin JST-GH cable
Connect antennas to both the MAIN and ANT2 SMA connectors
Mount the antennas with a minimum of 30 cm separation (more is better for heading accuracy)
Flight Controller Parameters
Apply the Single GPS Configuration flight controller parameters above, then change/add the following in QGroundControl and reboot the flight controller.
Required
15
Enable GPS fusion + GPS yaw (lon/lat + alt + 3D velocity + yaw). Overrides the value of 7 from the single GPS configuration
Optional
Clockwise rotation in degrees from the vehicle forward axis to the MAIN→ANT2 baseline (e.g. 0 if ANT2 is directly ahead of MAIN, 90 if ANT2 is to the right). Equivalent to the SEP_OFFS_YAW node parameter — use one or the other, not both
CAN Node Parameters
Apply the Single GPS Configuration CAN node parameters above, then add the following on the GPS and reboot the node.
Required
SEP_DUAL_ANT
3
Enable dual antenna heading. Bitmask: 1 = Fixed (highest accuracy), 2 = Float (more robust), 3 = Fixed + Float (default, recommended — receiver uses best available)
Optional
SEP_OFFS_YAW
Clockwise rotation in degrees from the vehicle forward axis to the MAIN→ANT2 baseline. Range: -360 to 360. Equivalent to the EKF2_GPS_YAW_OFFSET flight controller parameter — use one or the other, not both
SEP_OFFS_PITCH
Pitch offset in degrees to compensate for vertical mounting differences between MAIN and ANT2. Range: -90 to 90. A positive pitch indicates the MAIN antenna is mounted lower than ANT2
Troubleshooting
Heading not appearing — verify
UAVCAN_SUB_GPS_Ris set to 1 and reboot the flight controller.Verify antenna separation — ensure a minimum of 30 cm between antennas. Greater separation improves heading accuracy.
Yaw alignment — if the antennas are not aligned along the vehicle's forward axis, set the
SEP_OFFS_YAWparameter on the G5H node to the clockwise rotation angle, or setEKF2_GPS_YAW_OFFSETon the flight controller.See our GPS Placement guide for mounting best practices, interference sources, and antenna positioning.
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