PX4 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.

Firmware Setup

ARK MAG runs the PX4 DroneCAN Firmware. As such, it supports firmware update over the CAN bus and dynamic node allocation.

Flight Controller Parameters

Set the following in QGroundControl and reboot the flight controller.

Required

Parameter	Value	Description
UAVCAN_ENABLE	2	Enable DroneCAN with dynamic node allocation
UAVCAN_SUB_MAG	1	Subscribe to DroneCAN magnetometer messages

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