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* New translations px4_basic_concepts.md (German) * New translations px4_basic_concepts.md (Japanese) * New translations px4_basic_concepts.md (Korean) * New translations px4_basic_concepts.md (Russian) * New translations px4_basic_concepts.md (Turkish) * New translations px4_basic_concepts.md (Chinese Simplified) * New translations SUMMARY.md (German) * New translations rtk_gps.md (Chinese Simplified) * New translations README.md (Turkish) * New translations rtk_gps.md (Turkish) * New translations u-blox_f9p_heading.md (Turkish) * New translations README.md (Turkish) * New translations SUMMARY.md (Chinese Simplified) * New translations README.md (Chinese Simplified) * New translations u-blox_f9p_heading.md (Chinese Simplified) * New translations README.md (Russian) * New translations README.md (Chinese Simplified) * New translations ark_rtk_gps.md (German) * New translations ark_rtk_gps.md (Japanese) * New translations ark_rtk_gps.md (Korean) * New translations ark_rtk_gps.md (Russian) * New translations ark_rtk_gps.md (Turkish) * New translations SUMMARY.md (Turkish) * New translations u-blox_f9p_heading.md (Russian) * New translations README.md (German) * New translations u-blox_f9p_heading.md (Japanese) * New translations rtk_gps.md (German) * New translations u-blox_f9p_heading.md (German) * New translations README.md (German) * New translations SUMMARY.md (Japanese) * New translations README.md (Japanese) * New translations rtk_gps.md (Japanese) * New translations README.md (Japanese) * New translations rtk_gps.md (Russian) * New translations SUMMARY.md (Korean) * New translations README.md (Korean) * New translations rtk_gps.md (Korean) * New translations u-blox_f9p_heading.md (Korean) * New translations README.md (Korean) * New translations SUMMARY.md (Russian) * New translations README.md (Russian) * New translations ark_rtk_gps.md (Chinese Simplified) * New translations px4_basic_concepts.md (Korean)
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| # ARK RTK GPS | ||
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| ARK RTK GPS is an open source [UAVCAN](README.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox F9P](https://www.u-blox.com/en/product/zed-f9p-module), magnetometer, barometer, IMU, buzzer, and safety switch module. | ||
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|  | ||
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| ## Where to Buy | ||
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| Order this module from: | ||
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| * [ARK Electronics](https://arkelectron.com/product/ark-rtk-gps/) (US) | ||
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| ## Specifications | ||
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| * [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS) | ||
| * Runs [PX4 Open Source Firmware](https://github.com/PX4/PX4-Autopilot/tree/master/boards/ark/can-rtk-gps) | ||
| * Supports [UAVCAN](README.md) [Firmware Updating](node_firmware.md) | ||
| * Dynamic [UAVCAN](README.md) node enumeration | ||
| * Sensors | ||
| * Ublox F9P GPS | ||
| * Multi-band GNSS receiver delivers centimeter level accuracy in seconds | ||
| * Concurrent reception of GPS, GLONASS, Galileo and BeiDou | ||
| * Multi-band RTK with fast convergence times and reliable performance | ||
| * High update rate for highly dynamic applications | ||
| * Centimeter accuracy in a small and energy efficient module | ||
| * Bosch BMM150 Magnetometer | ||
| * Bosch BMP388 Barometer | ||
| * Invensense ICM-42688-P 6-Axis IMU | ||
| * STM32F412CEU6 MCU | ||
| * Safety Button | ||
| * Buzzer | ||
| * Two Pixhawk Standard CAN Connectors | ||
| * 4 Pin JST GH | ||
| * F9P “UART 2” Connector | ||
| * 3 Pin JST GH | ||
| * TX, RX, GND | ||
| * Pixhawk Standard Debug Connector | ||
| * 6 Pin JST SH | ||
| * LED Indicators | ||
| * Safety LED | ||
| * GPS Fix | ||
| * RTK Status | ||
| * RGB system status | ||
| * USA Built | ||
| * Power Requirements | ||
| * 5V | ||
| * 170mA Average | ||
| * 180mA Max | ||
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| ### Wiring/Connecting | ||
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| The ARK RTK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. Multiple sensors can be connected by plugging additional sensors into the ARK RTK GPS's second CAN connector. | ||
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| General instructions for UAVCAN wiring can also be found in [UAVCAN > Wiring](../uavcan/README.md#wiring). | ||
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| ### Mounting/Orientation | ||
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| The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**. | ||
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| The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration). | ||
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| ## PX4 Setup | ||
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| ### Enabling UAVCAN | ||
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| In order to use the ARK RTK GPS board, connect it to the Pixhawk CAN bus and enable the UAVCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [UAVCAN ESCs](../uavcan/escs.md)). | ||
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| The steps are: | ||
| - In *QGroundControl* set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)). | ||
| - Connect ARK GPS CAN to the Pixhawk CAN. | ||
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| Once enabled, the module will be detected on boot. GPS data should arrive at 10Hz. | ||
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| General instructions for UAVCAN PX4 configuration can also be found in [UAVCAN > PX4 Configuration](../uavcan/README.md#px4-configuration). | ||
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| ### PX4 Configuration | ||
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| You need to set necessary [UAVCAN](README.md) parameters and define offsets if the sensor is not centred within the vehicle. | ||
| - Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO). | ||
| - The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK RTK GPS from the vehicles centre of gravity. | ||
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| ## Building ARK RTK GPS Firmware | ||
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| ARK RTK GPS is sold with a recent firmware build. Developers who want to update to the very latest version can build and install it themselves using the normal PX4 toolchain and sources. | ||
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| The steps are: | ||
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| 1. Install the [PX4 toolchain](../dev_setup/dev_env.md). | ||
| 1. Clone the PX4-Autopilot sources, including ARK RTK GPS, using *git*: | ||
| ``` | ||
| git clone https://github.com/PX4/PX4-Autopilot --recursive | ||
| cd PX4-Autopilot | ||
| ``` | ||
| 1. Build the ARK RTK GPS firmware: | ||
| ``` | ||
| make ark_can-rtk-gps_default | ||
| ``` | ||
| 1. That will have created a binary in **build/ark_can-rtk-gps_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Put this binary on the root directory of the flight controller’s SD card to flash the ARK RTK GPS. Next time you power your flight controller with the SD card installed, ARK RTK GPS will automatically be flashed and you should notice the binary is no longer in the root directory and there is now a file named **80.bin** in the *ufw* directory of the SD card. | ||
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| :::note ARK | ||
| RTK GPS will not boot if there is no SD card in the flight controller when powered on. | ||
| ::: | ||
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| ## Updating ARK RTK GPS Bootloader | ||
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| ARK RTK GPS comes with the bootloader pre-installed. You can rebuild and reflash it within the PX4-Autopilot environment if desired. | ||
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| The steps are: | ||
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| 1. Build the ARK RTK GPS bootloader firmware: | ||
| ``` | ||
| make ark_can-rtk-gps_canbootloader | ||
| ``` | ||
| :::note | ||
| This will setup your `launch.json` file if you are in VS code. If using the Black Magic Probe and VS code, make sure to update `BMPGDBSerialPort` within this file to the correct port that your debugger is connected to. On MacOS, the port name should look something like `cu.usbmodemE4CCA0E11`. | ||
| ::: | ||
| 1. Connect your ARK RTK GPS to any Serial Wire Debugging (SWD) device that supports use of GNU Project Debugger (GDB), such as the Black Magic Probe, and then connect power to your ARK RTK GPS via one of the CAN ports. | ||
| 1. Flash the ARK RTK GPS with `ark_can-rtk-gps_canbootloader`. To do so in VS code, you should see `CMake: [ark_can-rtk-gps_canbootloader]: Ready` on the bottom bar of VS code, indicating what you are flashing. You then flash the bootloader by selecting `Start Debugging` in the Run and Debug window of VS code. | ||
| 3. With the bootloader flashed, you are ready to build and flash the ARK RTK GPS firmware `ark_can-rtk-gps_default` as outlined above. | ||
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| ## LED Meanings | ||
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| You will see green, blue and red LEDs on the ARK RTK GPS when it is being flashed, and a blinking green LED if it is running properly. | ||
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| If you see a red LED there is an error and you should check the following: | ||
| - Make sure the flight controller has an SD card installed. | ||
| - Make sure the ARK RTK GPS has `ark_can-rtk-gps_canbootloader` installed prior to flashing `ark_can-rtk-gps_default`. | ||
| - Remove binaries from the root and ufw directories of the SD card and try to build and flash again. |
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