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 Wiringarrow-up-right 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 Firmwarearrow-up-right. As such, it supports firmware update over the CAN bus and dynamic node allocationarrow-up-right.

Flight Controller Parameters

Set the following in QGroundControl and reboot the flight controller.

Required

Parameter
Value
Description

2

Enable DroneCAN with dynamic node allocation

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:

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

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