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 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.

See the ArduPilot rangefinder setup guide for additional configuration guidance.

CAN Configuration

Flight Controller Parameters

Required

Parameter	Value	Description
RNGFND1_TYPE	24	DroneCAN
RNGFND1_MAX	max sensor range	Range finder maximum range
RNGFND1_ADDR	sensor ID	Sensor ID of the rangefinder
RNGFND1_RECV_ID	node ID	CAN node ID of the sensor

If you intend to use multiple distance sensors, you will need this ArduPilot PR.

CAN Node Parameters

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

• QGroundControl — each CAN node appears as a separate Component X entry under Vehicle Settings > Parameters.

• The DroneCAN GUI Tool.

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	10	MAVLink
RNGFND1_MAX	max sensor range	Range finder maximum range
SERIALX_PROTOCOL	2	MAVLink2
SERIALX_BAUD	115	115200 baud