PX4 Instructions
Hardware Setup
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.
Mounting
The recommended mounting orientation is with the connectors on the board pointing towards back of vehicle, as shown in the following picture.
This corresponds to the default value (0) of the parameter SENS_FLOW_ROT. Change the parameter appropriately if using a different orientation.
The sensor can be mounted anywhere on the frame, but you will need to specify the focal point position, relative to vehicle center of gravity, during PX4 configuration.
Firmware Setup
ARK Flow MR runs the PX4 DroneCAN Firmware. As such, it supports firmware update over the CAN bus and dynamic node allocation.
Flight Controller Setup
The ARK Flow MR will not boot if there is no SD card in the flight controller when powered on.
Connect the ARK Flow MR CAN to the flight controller's CAN port. Once parameters are set the module will be detected on boot. See DroneCAN > Enabling DroneCAN for more detail.
Flight Controller Parameters
Set the following in QGroundControl and reboot the flight controller.
Required
Optional
Set to 1 to subscribe to DroneCAN RawIMU messages. Requires CANNODE_PUB_IMU to also be set on the ARK Flow MR
Set to 0 to disable GPS aiding (e.g. indoor flight)
ARK Flow MR offset from the vehicle center of gravity (meters)
Sensor rotation if mounted in a non-default orientation (default 0)
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
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. Requires UAVCAN_SUB_IMU to also be set on the flight controller
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