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 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.

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 for a dual-antenna solution.

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.

DroneCANPX4 Autopilot

See the latest firmware below.

340KB

82-1.16.e68afe1e.uavcan.bin

Open

ARK RTK GPS Firmware

Release Notes

• 82-1.16.e68afe1e - 2025-2-12

  • Disable mag bias estimator by default

Pinout

CAN - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

CAN - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

F9P UART2 - 3 Pin JST-GH

Pin Number	Signal Name	Voltage
1	F9P_TXD2	3.3V
2	F9P_RXD2	3.3V
3	GND	GND

Debug - 6 Pin JST-SH

Pin Number	Signal Name	Voltage
1	3.3V	3.3V
2	USART2_TX	3.3V
3	USART2_RX	3.3V
4	FMU_SWDIO	3.3V
5	FMU_SWCLK	3.3V
6	GND	GND