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0524a374d9
* fix(drivers/uavcannode): make CANNODE_NODE_ID the sole node ID policy The startup bootloader_app_shared_write() never reached the bootloader: it only accepts App-signed data and invalidates the shared region on every boot. The only consumer was uavcannode itself on a restart without a reset (nsh stop/start), where the persisted bus_speed=0 made the CAN driver init fail and left the node off the bus. The bootloader learns our node ID exclusively through the firmware update handoff in cb_beginfirmware_update, which already carries the static ID. CANNODE_NODE_ID now overrides the bootloader handoff only when nonzero, so the default (0) reuses the ID the bootloader already allocated instead of running allocation a second time. The handoff is ignored unless it carries a valid bitrate, healing regions poisoned by firmware that wrote bus_speed=0. Max is 125 because 126/127 are reserved for debug tools by DroneCAN convention, matching UAVCAN_NODE_ID. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> * fix(drivers/uavcannode): harden bootloader handoff validation Invalidate the shared region whenever it was read valid, not only when the handoff is accepted, so stale data cannot linger on boards whose bootloader never invalidates it. Require a plausible bitrate (the CANNODE_BITRATE minimum) rather than nonzero: the canbootloader alt-app update path can hand off bus_speed = CAN_UNDEFINED (999). Reword the invalid-param error, which claimed dynamic allocation while keeping the bootloader handoff. Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com> --------- Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>
118 lines
5.7 KiB
Markdown
118 lines
5.7 KiB
Markdown
# ARK GPS (DroneCAN)
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ARK GPS is an open source [DroneCAN](index.md) [GNSS/GPS](../gps_compass/index.md), magnetometer, IMU, barometer, buzzer, and safety switch module.
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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-gps/) (US)
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## Hardware Specifications
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- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_GPS)
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- Sensors
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- Ublox M9N GPS
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- Ultra-robust meter-level GNSS positioning
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- Maximum position availability with concurrent reception of 4 GNSS
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- Advanced spoofing and jamming detection
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- Excellent RF interference mitigation
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- Bosch BMM150 Magnetometer
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- Bosch BMP388 Barometer
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- Invensense ICM-42688-P 6-Axis IMU
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- STM32F412CEU6 MCU
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- Safety Button
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- Buzzer
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- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
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- Pixhawk Standard Debug Connector (6 Pin JST SH)
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- Small Form Factor
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- 5cm x 5cm x 1cm
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- LED Indicators
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- Safety LED
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- GPS Fix
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- RGB System Status
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- USA Built
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- Power Requirements
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- 5V
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- 110mA Average
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- 117mA Max
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## Hardware Setup
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### Wiring
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The ARK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
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For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
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### Mounting
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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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## Firmware Setup
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ARK GPS runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
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As such, it supports firmware update over the CAN bus and [dynamic node allocation](../dronecan/index.md#node-id-allocation).
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ARK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself see [PX4 DroneCAN Firmware > Building the Firmware](px4_cannode_fw.md#building-the-firmware).
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- Firmware target: `ark_can-gps_default`
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- Bootloader target: `ark_can-gps_canbootloader`
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## PX4 Configuration
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You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle.
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The required settings are outlined below.
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::: info
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The ARK GPS will not boot if there is no SD card in the flight controller when powered on.
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:::
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### Enable DroneCAN
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In order to use the ARK GPS board, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
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The steps are:
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- 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)).
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- Connect ARK GPS CAN to the Pixhawk CAN.
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Once enabled, the module will be detected on boot.
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GPS data should arrive at 10Hz.
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DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
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### Sensor Position Configuration
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If the sensor is not centred within the vehicle you will also need to define sensor offsets:
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- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
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- 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).
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- The parameters [SENS_GPS0_OFFX](../advanced_config/parameter_reference.md#SENS_GPS0_OFFX), [SENS_GPS0_OFFY](../advanced_config/parameter_reference.md#SENS_GPS0_OFFY) and [SENS_GPS0_OFFZ](../advanced_config/parameter_reference.md#SENS_GPS0_OFFZ) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
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### ARK GPS Configuration
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You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK GPS itself:
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| Parameter | Description |
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| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------- |
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| <a id="CANNODE_NODE_ID"></a>[CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) | CAN node ID (0 for dynamic allocation). If set to 0 (default), dynamic node allocation is used. Set to 1-125 to use a static node ID. |
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| <a id="CANNODE_TERM"></a>[CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) | CAN built-in bus termination. Set to `1` if this is the last node on the CAN bus. |
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## LED Meanings
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You will see green, blue and red LEDs on the ARK 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:
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- Make sure the flight controller has an SD card installed.
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- Make sure the ARK GPS has `ark_can-gps_canbootloader` installed prior to flashing `ark_can-gps_default`.
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- Remove binaries from the root and ufw directories of the SD card and try to build and flash again.
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## See Also
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- [ARK GPS](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-gps) (ARK Docs)
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