ArduPilot Instructions

Connect the ARK MAG to the flight controller's CAN port as described in Wiring.

Flight Controller Parameters

Required

Parameter	Value	Description
CAN_P1_DRIVER	1	Enable CAN port 1 driver
CAN_D1_PROTOCOL	1	Set protocol to DroneCAN
COMPASS_ENABLE	1	Enable the compass subsystem

Reboot the flight controller. The magnetometer will appear as a DroneCAN compass and can be configured via the standard COMPASS_* parameters. See the ArduPilot compass setup guide for calibration and configuration details.

CAN Node Parameters

The node publishes magnetometer data with its default parameters (CANNODE_PUB_MAG is 1). To terminate the bus or fix the node ID, see Node Parameters.