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Ardupilot Instructions

Wiring

The ARK Flow MR 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 Flow MR's second CAN connector.

Mounting

The recommended mounting orientation is with the connectors on the board pointing towards back of vehicle, as shown in the following picture.

ARK Flow align with Pixhawk

Flight Controller Parameters

Connect the ARK Flow MR to the flight controller's CAN port and set the following parameters. Reboot the flight controller after setting them.

Required

Parameter
Value
Description

1

Enable CAN port 1 driver

1

Set protocol to DroneCAN

6

DroneCAN optical flow

Optional

To use the onboard lidar:

Parameter
Value
Description

24

DroneCAN rangefinder

5000

Maximum range in cm (50 m)

sensor ID

Sensor ID of the rangefinder

node ID

CAN node ID of the sensor

To compensate for sensor placement (see sensor offset compensation):

Parameter
Description

ARK Flow MR offset from the vehicle center of gravity (meters)

CAN Node Parameters

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

Optional

Parameter
Description

CANNODE_TERM

Set to 1 if this is the last node on the CAN bus

CANNODE_PUB_IMU

Set to 1 to publish RawIMU messages on the CAN bus

Additional Notes

  • FlowHold does not require the use of a rangefinder.

ArduPilot Setup Instructions

Sensor Setup Instructions

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