ArduPilot Instructions

AP_Periph support for the ARK X20 RTK GPS is in review — ArduPilot PR #33941 adds the ARK_X20_GPS target (board ID 89). Until it merges there are no prebuilt binaries on the ArduPilot firmware server.

Testing the WIP Firmware

Build AP_Periph from the PR branch:

./waf configure --board ARK_X20_GPS
./waf AP_Periph

Flash it using either method:

• Over CAN — upload AP_Periph.apj with the DroneCAN GUI Tool, see our DroneCAN GUI Tool Guide. Then set FLASH_BOOTLOADER to 1 in the node's parameters so future updates use the AP_Periph bootloader.

• Over SWD — flash the combined AP_Periph_with_bl.hex with an ST-LINK on the 6-pin debug connector, see the ST-LINK Flashing Guide.

Configuration

With AP_Periph running, configuration is identical to the ARK RTK GPS ArduPilot instructions — both the single GPS and dual GPS heading setups. Moving baseline heading requires X20P receiver firmware 2.10 or later.