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
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

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

• QGroundControl — each CAN node appears as a separate Component X entry under Vehicle Settings > Parameters.

• The DroneCAN GUI Tool.

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

Optical Flow Sensor Testing and Setup — Copter documentationardupilot.org

Sensor Setup Instructions