Ardupilot Instructions

Connection to Autopilot

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 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 message.

Connection to Autopilot with CAN

• Set RNGFND1_TYPE = 24 (DroneCAN)

• Set RNGFND1_MAX = to set range finder’s maximum range

Connection to Autopilot with UART/MAVLink

• Set RNGFND1_TYPE = 10 (MAVLink)

• Set RNGFND1_MAX = to set range finder’s maximum range

• Set SERIALX parameter for the port it is connected to

• Set SERIALX_BAUD = 115 (115200)

• Set SERIALX_PROTOCOL = 2 (MAVLink2)

ArduPilot Setup Instructions

https://ardupilot.org/copter/docs/common-rangefinder-setup.html