> 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/sensor/ark-cannode/firmware.md). # Firmware ARK CANnode runs the [PX4 DroneCAN Firmware](https://docs.px4.io/main/en/dronecan/px4_cannode_fw.html). As such, it supports firmware update over the CAN bus and [dynamic node allocation](https://docs.px4.io/main/en/dronecan/#node-id-allocation). It can also run [ArduPilot AP\_Periph](https://ardupilot.org/dev/docs/ap-peripheral-landing-page.html) firmware; see [ArduPilot Firmware](#ardupilot-firmware). ## Updating To flash the application firmware you can use the SD card method as [documented here](https://docs.px4.io/main/en/dronecan/#firmware-update) or you can use the DroneCAN GUI Tool and a USB-to-CAN adaptor to flash the firmware directly. ## Downloads * [ARK CANnode Firmware](https://downloads.arkelectron.com/firmware/ark_cannode/latest/application.uavcan.bin) * [ARK CANnode Bootloader](https://downloads.arkelectron.com/firmware/ark_cannode/latest/bootloader.bin) * [All releases and SHA-256 checksums](https://downloads.arkelectron.com/firmware/ark_cannode/) ## Building and Flashing over SWD ARK CANnode boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](https://docs.px4.io/main/en/dronecan/px4_cannode_fw.html#building-the-firmware). ### Building the Application ``` make ark_cannode ``` ### Building the Bootloader ``` make ark_cannode_canbootloader ``` ### Flashing the Bootloader To flash the bootloader firmware you need an ST-LINK programmer. See the [ST-LINK Flashing Guide](/knowledge-base/knowledge-base/st-link-flashing-guide.md) for setup instructions. ``` st-flash write 0x08000000 ``` ### Flashing the Application If you flash the application over SWD instead of over CAN, it goes at the application offset — `0x08000000` is the bootloader's address: ``` st-flash write 0x08010000 ``` ## ArduPilot Firmware For flight controller setup with AP\_Periph, see [ArduPilot Instructions](/products/sensor/ark-cannode/ardupilot-instructions.md). ### Flashing over CAN Flash the ARK CANnode with AP\_Periph firmware using the DroneCAN GUI Tool. See the [DroneCAN GUI Tool Guide](/knowledge-base/knowledge-base/dronecan-gui-tool-guide.md) for detailed instructions on connecting and uploading firmware. 1. Download the latest AP\_Periph firmware for the ARK CANnode from [firmware.ardupilot.org/AP\_Periph](https://firmware.ardupilot.org/AP_Periph/) 2. Connect the CANnode to the flight controller's CAN bus 3. Open the DroneCAN GUI Tool 4. Double-click the CANnode in the node list 5. Click **Update Firmware** and select the `.bin` AP\_Periph firmware file ### Flashing over SWD If the CANnode has no bootloader and does not show up on the CAN bus, flash it with an ST-LINK using the combined bootloader + application image: ```bash st-flash --format ihex write AP_Periph_with_bl.hex ``` Do not write `AP_Periph.bin` to `0x08000000` — the bootloader lives there and the application starts at `0x08010000`. See [Flashing DroneCAN Nodes](/knowledge-base/knowledge-base/st-link-flashing-guide.md#flashing-dronecan-nodes) for details. ### Building Application: ``` ./waf configure --board ARK_CANNODE ./waf AP_Periph ``` Bootloader: ``` ./waf configure --board ARK_CANNODE --bootloader ./waf bootloader ``` The bootloader can also be updated from the running AP\_Periph firmware by setting `FLASH_BOOTLOADER = 1` on the CANnode via the DroneCAN GUI Tool. The hardware definition can be found here: ## Node Parameters These apply to the PX4 DroneCAN firmware. Set them on the CANnode, then reboot it. Use [QGroundControl](https://docs.px4.io/main/en/dronecan/#qgc-cannode-parameter-configuration), where each CAN node is a separate *Component X* under **Vehicle Settings > Parameters**, or the [DroneCAN GUI Tool](/knowledge-base/knowledge-base/dronecan-gui-tool-guide.md). | Parameter | Default | Description | | --------------------------------------------------------------------------------------------------------- | ------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | [CANNODE\_TERM](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#CANNODE_TERM) | 0 | Enable the built-in CAN bus termination resistor. Set to `1` only if this device is the last node on the CAN bus | | `CANNODE_NODE_ID` | 0 | Fixed node ID (1–125). `0` uses dynamic node allocation | | [CANNODE\_PUB\_IMU](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#CANNODE_PUB_IMU) | 0 | Set to `1` to publish `RawIMU` messages from the onboard IMU. PX4 also needs `UAVCAN_SUB_IMU` set to `1` | | `CANNODE_PUB_MAG` | 1 | Publish data from a connected magnetometer. External magnetometers are detected at boot | | `CANNODE_PUB_BAR` | 1 | Publish data from a connected barometer | | `SENS_EN_*` | 0 | Start the driver for an external I2C or SPI sensor, for example `SENS_EN_SDP3X` for a Sensirion SDP3x airspeed sensor | | `SYS_BL_UPDATE` | 0 | Set to `1` to rewrite the CAN bootloader from the running firmware. The flight controller logs `bootloader updated`, `bootloader unchanged` or `bootloader update failed`, and the parameter returns to `0`. Firmware built before October 2026 lacks this parameter | PWM output parameters (`PWM_MAIN_*`, `DSHOT_TEL_CFG`) are set per use case; see [CANnode as PWM Expander](/products/sensor/ark-cannode/px4-instructions.md#cannode-as-pwm-expander). ## Release Notes ### v1.18.0.1 - d1f97771 - 2026-10-03 * PX4 v1.18 base * SCH16T driver built in * Bootloader update from the running firmware (`SYS_BL_UPDATE`) --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation by asking a question. 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