Hardware Reference

Specifications

Specification	Value
Magnetometer	PNI RM3100, tri-axis
MCU	STM32F412VG
CAN	2× Pixhawk-standard 4-pin JST-GH
Debug	Pixhawk-standard 6-pin JST-SH
Power	5 V, 44 mA average, 50 mA max
Dimensions	2.7 × 1.8 × 0.9 cm
Weight	3 g

Pinout

CAN (×2) — 4-pin JST-GH

Pin	Signal	Voltage
1	5V	5.0 V
2	CAN_P	5.0 V
3	CAN_N	5.0 V
4	GND	GND

Debug — 6-pin JST-SH

Pin	Signal	Voltage
1	3.3V	3.3 V
2	USART2_TX	3.3 V
3	USART2_RX	3.3 V
4	FMU_SWDIO	3.3 V
5	FMU_SWCLK	3.3 V
6	GND	GND

LEDs

Status LED	Meaning
Green, fast blink (10 Hz)	Node firmware running. It does not change with CAN traffic.
Green, slow blink (1 Hz)	Bootloader listening for CAN traffic
Blue, blinking (2 Hz)	Bootloader waiting for a node ID from the flight controller
Blue and green, blinking (3 Hz)	Bootloader waiting up to 3 s for the flight controller to start a firmware update
Red, green and blue together (3 Hz)	Firmware update in progress
Red, blinking	Firmware update error. 1 Hz: the flight controller returned a file error. 2 Hz: the flight controller stopped responding. 4 Hz: the image failed its CRC check. A failed update restarts the node after 20 s.

Without valid firmware the node stays in the bootloader until the flight controller flashes it.

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.

3D Model and Case

File	Contents
ARK_MAG_Rev_1_0.step	Board, rev 1.0
Top_Case.stl	Case top
Bottom_Case.stl	Case bottom

All files: ARK_MAG in ark-hardware