UART / MAVLink
There is no proprietary raw UART protocol. The UART port streams standard MAVLink 2.
Link
Setting
Value
Connector
UART 6-pin JST-GH (not Debug)
Baud
115200 8N1
Flow control
Optional RTS/CTS (auto by default)
Init sequence
None — streams after boot
Default sysid / compid
158 / 158
The Debug connector is NSH console + SWD only.
Messages
Message
ID
Rate
HEARTBEAT
0
1 Hz
DISTANCE_SENSOR fields
Field
Unit
Notes
current_distance
cm
uint16
min_distance / max_distance
cm
uint16
type
enum
Laser
orientation
enum
Default downward
signal_quality
0–100
0 unknown, 1 invalid
Rate
UART rate matches the rangefinder sample rate (same data path as DroneCAN). Defaults are typically about 5–25 Hz depending on short/long range mode.
Node configuration
No parameters need to be set on the ARK DIST for UART MAVLink output. Stock firmware enables MAVLink on the UART port automatically.
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