PX4 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.

Firmware Setup

ARK DIST runs the PX4 DroneCAN Firmware. As such, it supports firmware update over the CAN bus and dynamic node allocation.

Flight Controller Setup

CAN Configuration

Set the following parameters in QGroundControl:

• UAVCAN_ENABLE to 2 for dynamic node allocation

• Enable UAVCAN_SUB_RNG.

• Set EKF2_RNG_A_HMAX to the max sensor range

• Set EKF2_RNG_QLTY_T to 0.2

• Set UAVCAN_RNG_MIN to 0

• Set UAVCAN_RNG_MAX to the max sensor range

UART/MAVLink Configuration

• Set MAV_X_CONFIG to the port the sensor is connected to

• Set MAV_X_FORWARD to 0 (off)

• Set MAV_X_MODE to 7 or 13 (Minimal or Low Bandwidth) to reduce memory usage

• Set SER_X_BAUD to 115200

• Set EKF2_RNG_A_HMAX to the max sensor range

• Set EKF2_RNG_QLTY_T to 0.2