> 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-dist/ardupilot-instructions.md).

# Ardupilot Instructions

## Hardware Setup

### Wiring

**CAN:** connect with a Pixhawk standard 4-pin JST-GH cable. See [CAN Wiring](https://docs.px4.io/main/en/can/#wiring). Chain additional nodes from the second CAN connector.

**UART:** connect the 6-pin UART JST-GH to a free FC serial port. Protocol details: [UART / MAVLink](/products/sensor/ark-dist/uart-mavlink.md).

See the [ArduPilot rangefinder setup guide](https://ardupilot.org/copter/docs/common-rangefinder-setup.html) for additional configuration guidance.

## CAN Configuration

### Flight Controller Parameters

#### Required

| Parameter                                                                              | Value              | Description                  |
| -------------------------------------------------------------------------------------- | ------------------ | ---------------------------- |
| [RNGFND1\_TYPE](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-type)        | 24                 | DroneCAN                     |
| [RNGFND1\_MAX](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-max)          | *max sensor range* | Range finder maximum range   |
| [RNGFND1\_ADDR](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-addr)        | *sensor ID*        | Sensor ID of the rangefinder |
| [RNGFND1\_RECV\_ID](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-recv-id) | *node ID*          | CAN node ID of the sensor    |

{% hint style="info" %}
If you intend to use multiple distance sensors, you will need [this ArduPilot PR](https://github.com/ArduPilot/ardupilot/pull/31931).
{% endhint %}

### CAN Node Parameters

No node parameters are required for range publishing.

Configure optional node params via [QGroundControl](https://docs.px4.io/main/en/dronecan/#qgc-cannode-parameter-configuration) or the [DroneCAN GUI Tool](/knowledge-base/knowledge-base/dronecan-gui-tool-guide.md).

#### Optional

| Parameter      | Description                                        |
| -------------- | -------------------------------------------------- |
| `CANNODE_TERM` | Set to `1` if this is the last node on the CAN bus |

## UART/MAVLink Configuration

No parameters need to be set on the ARK DIST. Stock firmware streams MAVLink on the UART port at 115200. See [UART / MAVLink](/products/sensor/ark-dist/uart-mavlink.md).

### Flight Controller Parameters

#### Required

| Parameter                                                                                                          | Value              | Description                |
| ------------------------------------------------------------------------------------------------------------------ | ------------------ | -------------------------- |
| [RNGFND1\_TYPE](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-type)                                    | 10                 | MAVLink                    |
| [RNGFND1\_MAX](https://ardupilot.org/copter/docs/parameters.html#rngfnd1-max)                                      | *max sensor range* | Range finder maximum range |
| [SERIALX\_PROTOCOL](https://ardupilot.org/copter/docs/parameters.html#serial0-protocol-console-protocol-selection) | 2                  | MAVLink2                   |
| [SERIALX\_BAUD](https://ardupilot.org/copter/docs/parameters.html#serial0-baud-serial0-baud-rate)                  | 115                | 115200 baud                |


---

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