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
UAVCAN_ENABLE	2	Enable DroneCAN with dynamic node allocation
UAVCAN_SUB_GPS	1	Subscribe to DroneCAN GPS messages
UAVCAN_SUB_MAG	1	Subscribe to DroneCAN magnetometer messages
EKF2_GPS_CTRL	7	Enable GPS fusion (lon/lat + alt + 3D velocity)

Optional

Parameter	Description
UAVCAN_SUB_BARO	Set to 1 to subscribe to DroneCAN barometer messages
UAVCAN_SUB_IMU	Set to 1 to subscribe to DroneCAN RawIMU messages.
EKF2_GPS_POS_X / EKF2_GPS_POS_Y / EKF2_GPS_POS_Z	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

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_BAR	Publish barometer messages on the CAN bus. Enabled by default
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.