Ardupilot Instructions

Hardware Setup

Wiring

The ARK MAG 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 MAG’s second CAN connector.

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

Set the following on the magnetometer 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.

Required

Parameter	Value	Description
CANNODE_PUB_MAG	1	Publish magnetometer messages on the CAN bus

Optional

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