ArduPilot Instructions

Connect the ARK DIST to the flight controller over CAN or UART as described in Wiring.

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	SR: 30, MR: 50, LR: 100	Range finder maximum range in m
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

The node publishes range data with its default parameters. To terminate the bus or change the rangefinder mode and rate, see Node Parameters.

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.

Flight Controller Parameters

Required

Parameter	Value	Description
RNGFND1_TYPE	10	MAVLink
RNGFND1_MAX	SR: 30, MR: 50, LR: 100	Range finder maximum range in m
SERIALX_PROTOCOL	2	MAVLink2
SERIALX_BAUD	115	115200 baud