> 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/px4-instructions.md).

# PX4 Instructions

Please read through the PX4 Documentation for DroneCAN GPS parameter configuration.

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

## 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](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_ENABLE)    | 2     | Enable DroneCAN with dynamic node allocation    |
| [UAVCAN\_SUB\_GPS](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_SUB_GPS) | 1     | Subscribe to DroneCAN GPS messages              |
| [UAVCAN\_SUB\_MAG](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_SUB_MAG) | 1     | Subscribe to DroneCAN magnetometer messages     |
| [EKF2\_GPS\_CTRL](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#EKF2_GPS_CTRL)   | 7     | Enable GPS fusion (lon/lat + alt + 3D velocity) |

#### Optional

| Parameter                                                                                                                                                                                                                                                                                                                      | Description                                            |
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------ |
| [UAVCAN\_SUB\_BARO](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_SUB_BARO)                                                                                                                                                                                                                      | Set to `1` to subscribe to DroneCAN barometer messages |
| [UAVCAN\_SUB\_IMU](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_SUB_IMU)                                                                                                                                                                                                                        | Set to `1` to subscribe to DroneCAN `RawIMU` messages. |
| [EKF2\_GPS\_POS\_X](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#EKF2_GPS_POS_X) / [EKF2\_GPS\_POS\_Y](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#EKF2_GPS_POS_Y) / [EKF2\_GPS\_POS\_Z](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#EKF2_GPS_POS_Z) | GPS offset from the vehicle center of gravity (meters) |

### CAN Node Parameters

The node publishes GPS, magnetometer and barometer data with its default parameters. To terminate the bus, fix the node ID, publish IMU data or change the receiver's output rate, PVT modes or dynamics model, see [Node Parameters](/products/gps/ark-mosaic-x5-rtk-gps/firmware.md#node-parameters).

***

## Troubleshooting

* See our [GPS Placement](/knowledge-base/knowledge-base/gps-placement.md) guide for mounting best practices, interference sources, and antenna positioning.


---

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