# Ardupilot Instructions

## Hardware Setup

### Wiring

The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST-GH cable. For more information, refer to the [CAN Wiring](https://docs.px4.io/main/en/can/#wiring) instructions.

Multiple sensors can be connected by plugging additional sensors into the ARK DIST's second CAN connector.

The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE\_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.

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

Set the following on the sensor and reboot the node. CAN node parameters can be configured using either:

* [QGroundControl](https://docs.px4.io/main/en/dronecan/#qgc-cannode-parameter-configuration) — each CAN node appears as a separate *Component X* entry under **Vehicle Settings > Parameters**.
* 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

### 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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