> For the complete documentation index, see [llms.txt](https://docs.arkelectron.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.arkelectron.com/products/sensor/ark-dist/px4-instructions.md).

# PX4 Instructions

Connect the ARK DIST to the flight controller over CAN or UART as described in [Wiring](/products/sensor/ark-dist/hardware.md#wiring).

## CAN Configuration

### Flight Controller Parameters

Set the following in *QGroundControl* and reboot the flight controller.

#### Required

| Parameter                                                                                                  | Value                   | Description                                  |
| ---------------------------------------------------------------------------------------------------------- | ----------------------- | -------------------------------------------- |
| [UAVCAN\_ENABLE](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_ENABLE)       | 2                       | Enable DroneCAN with dynamic node allocation |
| [UAVCAN\_SUB\_RNG](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_SUB_RNG)    | 1                       | Subscribe to DroneCAN range finder messages  |
| [UAVCAN\_RNG\_MIN](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_RNG_MIN)    | SR: 0, MR: 0.1, LR: 0.6 | Min reported range in m                      |
| [UAVCAN\_RNG\_MAX](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#UAVCAN_RNG_MAX)    | SR: 30, MR: 50, LR: 100 | Max reported range in m                      |
| [EKF2\_RNG\_QLTY\_T](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#EKF2_RNG_QLTY_T) | 0.2                     | Range finder quality time                    |

### 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](/products/sensor/ark-dist/firmware.md#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](/products/sensor/ark-dist/uart-mavlink.md).

### Flight Controller Parameters

Set the following in *QGroundControl* and reboot the flight controller.

#### Required

| Parameter                                                                                                  | Value   | Description                                     |
| ---------------------------------------------------------------------------------------------------------- | ------- | ----------------------------------------------- |
| [MAV\_X\_CONFIG](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#MAV_0_CONFIG)        | *port*  | Port the sensor is connected to                 |
| [MAV\_X\_FORWARD](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#MAV_0_FORWARD)      | 0       | Disable MAVLink forwarding on this port         |
| [MAV\_X\_MODE](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#MAV_0_MODE)            | 7 or 13 | Minimal or Low Bandwidth — reduces memory usage |
| [SER\_X\_BAUD](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#SER_TEL1_BAUD)         | 115200  | Baud rate for the MAVLink port                  |
| [EKF2\_RNG\_QLTY\_T](https://docs.px4.io/main/en/advanced_config/parameter_reference.html#EKF2_RNG_QLTY_T) | 0.2     | Range finder quality time                       |


---

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