> 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-x20-rtk-gps.md).

# ARK X20 RTK GPS

[ARK X20 RTK GPS](https://arkelectron.com/product/ark-x20-rtk-gps/)

The ARK X20 RTK GPS is built around the u-blox ZED-X20P all-band (L1/L2/L5) RTK GNSS module, with an onboard magnetometer, barometer, IMU, safety button, and buzzer.

Find additional documentation at <https://docs.px4.io/main/en/dronecan/ark_x20_rtk_gps>

## Firmware

Follow the steps for updating the firmware through the flight controller — see [Firmware Update](/products/gps/ark-x20-rtk-gps/px4-instructions.md#firmware-update) in the PX4 instructions.

If the node does not appear on the CAN bus — for example after a bad flash that erased the bootloader — recover it over SWD with an ST-LINK. See [Flashing DroneCAN Nodes](/knowledge-base/knowledge-base/st-link-flashing-guide.md#flashing-dronecan-nodes).

The X20P receiver's own firmware is updated separately with u-center 2 — see [u-blox Firmware Update](/knowledge-base/knowledge-base/ublox-firmware-update.md).

See the latest firmware below.

{% file src="/files/VJxSpbiah2UX4FMe64U2" %}
ARK X20 GPS Firmware
{% endfile %}

{% file src="/files/7HfiOpTbtwmL7ZiOHUkl" %}
ARK X20 GPS Bootloader
{% endfile %}

## Release Notes

* 89-1.16.47e04790 - 2025-11-17
  * Initial release

## 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>

#### GPS UART2 + Timepulse - 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>TXD2</td><td>3.3V</td></tr><tr><td>2</td><td>RXD2</td><td>3.3V</td></tr><tr><td>3</td><td>TIMEPULSE</td><td>3.3V</td></tr><tr><td>4</td><td>GND</td><td>GND</td></tr></tbody></table>

#### I2C2 - 4 Pin JST-GH

<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>5.0V Out (500mA)</td><td>5.0V</td></tr><tr><td>2</td><td>I2C2_SCL</td><td>3.3V</td></tr><tr><td>3</td><td>I2C2_SDA</td><td>3.3V</td></tr><tr><td>4</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>

## 3D Model

Find 3D models and case files at <https://github.com/ARK-Electronics/ARK_X20_GPS>


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