PX4 Instructions

Single GPS Configuration

Connect the ARK MOSAIC-X5 RTK 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

Parameter
Value
Description

2

Enable DroneCAN with dynamic node allocation

1

Subscribe to DroneCAN GPS messages

1

Subscribe to DroneCAN magnetometer messages

7

Enable GPS fusion (lon/lat + alt + 3D velocity)

Optional

Parameter
Description

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:

Required

Parameter
Value
Description

CANNODE_PUB_MAG

1

Publish magnetometer messages on the CAN bus

Optional

Parameter
Description

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


Troubleshooting

  • See our GPS Placement guide for mounting best practices, interference sources, and antenna positioning.

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