> 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-mosaic-x5-rtk-gps/firmware.md). # Firmware Follow the steps for updating the firmware through the flight controller. {% embed url="" %} ## Downloads * [ARK Mosaic-X5 GPS Firmware](https://downloads.arkelectron.com/firmware/ark_mosaic-x5-gps/latest/application.uavcan.bin) * [ARK Mosaic-X5 GPS Bootloader](https://downloads.arkelectron.com/firmware/ark_mosaic-x5-gps/latest/bootloader.bin) * [All releases and SHA-256 checksums](https://downloads.arkelectron.com/firmware/ark_mosaic-x5-gps/) Node firmware 84-1.18.73506671 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`. ## 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_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, ignored on the mosaic-X5). 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`) * SBAS available in `SEP_PVT_MODE`, off by default * Jamming, spoofing, OSNMA and receiver error reporting * Receiver reconfigured after it restarts * Bootloader file renamed to `ark_mosaic-x5-gps_canbootloader.bin` ### v1.16 - 3c45b562 - 2025-09-26 * Migrate to build server ### v1.15 - 6dea2ce5 - 2025-02-12 * Disable mag bias estimator by default --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. 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