# ARK GPS

## Firmware

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

{% embed url="<https://docs.px4.io/main/en/dronecan/#firmware-update>" %}

See the latest firmware below.

{% file src="/files/9iekx0Lub2lxzLAFUo6h" %}
ARK GPS Firmware
{% endfile %}

## Release Notes

* 81-1.17.67ace351 - 2025-11-14
  * [Fix M9N output rate](https://github.com/PX4/PX4-GPSDrivers/pull/191)
* 81-1.16.e68afe1e - 2025-2-12
  * Disable mag bias estimator by default

### Hardware Setup <a href="#hardware-setup" id="hardware-setup"></a>

#### Wiring <a href="#wiring" id="wiring"></a>

The ARK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](https://docs.px4.io/main/en/can/#wiring) instructions.

### LED Meanings <a href="#led-meanings" id="led-meanings"></a>

You will see green, blue and red LEDs on the ARK GPS when it is being flashed, and a blinking green LED if it is running properly.

If you see a red LED there is an error and you should check the following:

* Make sure the flight controller has an SD card installed.
* Make sure the ARK GPS has `ark_can-gps_canbootloader` installed prior to flashing `ark_can-gps_default`.
* Remove binaries from the root and ufw directories of the SD card and try to build and flash again.

## Pinout

#### CAN - 4 Pin JST-GH

<table><thead><tr><th width="134">Pin Number</th><th width="237">Signal Name</th><th>Voltage</th></tr></thead><tbody><tr><td>1</td><td>5V</td><td>5.0V</td></tr><tr><td>2</td><td>CAN_P</td><td>5.0V</td></tr><tr><td>3</td><td>CAN_N</td><td>5.0V</td></tr><tr><td>4</td><td>GND</td><td>GND</td></tr></tbody></table>

#### CAN - 4 Pin JST-GH

<table><thead><tr><th width="134">Pin Number</th><th width="237">Signal Name</th><th>Voltage</th></tr></thead><tbody><tr><td>1</td><td>5V</td><td>5.0V</td></tr><tr><td>2</td><td>CAN_P</td><td>5.0V</td></tr><tr><td>3</td><td>CAN_N</td><td>5.0V</td></tr><tr><td>4</td><td>GND</td><td>GND</td></tr></tbody></table>

#### Debug - 6 Pin JST-SH

<table><thead><tr><th width="153">Pin Number</th><th width="210">Signal Name</th><th>Voltage</th></tr></thead><tbody><tr><td>1</td><td>3.3V</td><td>3.3V</td></tr><tr><td>2</td><td>USART2_TX</td><td>3.3V</td></tr><tr><td>3</td><td>USART2_RX</td><td>3.3V</td></tr><tr><td>4</td><td>FMU_SWDIO</td><td>3.3V</td></tr><tr><td>5</td><td>FMU_SWCLK</td><td>3.3V</td></tr><tr><td>6</td><td>GND</td><td>GND</td></tr></tbody></table>


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://docs.arkelectron.com/products/gps/ark-gps.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.