ArduPilot Instructions

Connect and mount the ARK Flow MR as described in Wiring and Mounting.

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
CAN_P1_DRIVER	1	Enable CAN port 1 driver
CAN_D1_PROTOCOL	1	Set protocol to DroneCAN
FLOW_TYPE	6	DroneCAN optical flow

Optional

To use the onboard lidar:

Parameter	Value	Description
RNGFND1_TYPE	24	DroneCAN rangefinder
RNGFND1_MAX	5000	Maximum range in cm (50 m)
RNGFND1_ADDR	sensor ID	Sensor ID of the rangefinder
RNGFND1_RECV_ID	node ID	CAN node ID of the sensor

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

Parameter	Description
FLOW_POS_X / FLOW_POS_Y / FLOW_POS_Z	ARK Flow MR offset from the vehicle center of gravity (meters)

CAN Node Parameters

The node publishes optical flow and range finder data with its default parameters. To terminate the bus, publish IMU data or change the distance sensor mode and rate, see Node Parameters.

Additional Notes

• FlowHold does not require the use of a rangefinder.

ArduPilot Setup Instructions

Optical Flow Sensor Testing and Setup — Copter documentationardupilot.org

Sensor Setup Instructions