> 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-rtk-gps.md).

# ARK RTK GPS

Find most up to date documentation in the PX4 Documentation <https://docs.px4.io/main/en/dronecan/ark_rtk_gps.html>

Find 3D models and case files at <https://github.com/ARK-Electronics/ARK_RTK_GPS>

## L1L5 Variant

The [ARK RTK GPS L1L5](https://arkelectron.com/product/ark-rtk-gps-l1-l5/) is a variant of the ARK RTK GPS built around the u-blox ZED-F9P-15B, which receives the L1/L5 bands instead of L1/L2. The L5 band improves resilience to interference and multipath.

{% hint style="info" %}
The L1L5 variant does **not** support moving baseline heading. For dual-GPS heading use the standard L1/L2 ARK RTK GPS, or see the [ARK G5H RTK Heading GPS](/products/gps/ark-g5-rtk-heading-gps.md) for a dual-antenna solution.
{% endhint %}

Aside from the receiver, the L1L5 variant is identical to the standard ARK RTK GPS: it uses the same DroneCAN interface, onboard sensors, pinout, and firmware.

## 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/zlwk5gV5Zx5XZ5S1egzk" %}
ARK RTK GPS Firmware
{% endfile %}

## Release Notes

* 82-1.16.e68afe1e - 2025-2-12
  * Disable mag bias estimator by default

## 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>

#### F9P UART2 - 3 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>F9P_TXD2</td><td>3.3V</td></tr><tr><td>2</td><td>F9P_RXD2</td><td>3.3V</td></tr><tr><td>3</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>


---

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