Instructions for enabling UAVCAN params for ARK devices (PX4#1654)

musalmaz · Nov 14, 2021 · ffa5a68 · ffa5a68
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diff --git a/en/uavcan/ark_flow.md b/en/uavcan/ark_flow.md
@@ -76,10 +76,12 @@ Flow data should arrive at 10Hz.
 
 ### PX4 Configuration
 
-You need to set the EKF optical flow parameters to enable fusing optical flow measurements for velocity calculation and define offsets if the sensor is not centred within the vehicle.
-- In *QGroundControl* manually set the parameter [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) to `2` to use optical flow only or `3` to use GPS and optical flow. To manually set the value, select `Advanced Settings` and check `manual entry`, then enter the value at the top and save. 
-- The parameters [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X), [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) and [EKF2_OF_POS_Z](../advanced_config/parameter_reference.md#EKF2_OF_POS_Z) can be set to account for the offset of the Ark Flow from the vehicles centre of gravity.
+You need to set the EKF optical flow parameters to enable fusing optical flow measurements for velocity calculation, set necessary [UAVCAN](README.md) parameters, and define offsets if the sensor is not centred within the vehicle.
+- In *QGroundControl* manually set the parameter [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) to `2` to use optical flow only or `3` to use GPS and optical flow.
+  To manually set the value, select `Advanced Settings` and check `manual entry`, then enter the value at the top and save. 
 - Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `0.08` and [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `30`.
+- Enable [UAVCAN_SUB_FLOW](../advanced_config/parameter_reference.md#UAVCAN_SUB_FLOW) and [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- The parameters [EKF2_OF_POS_X](../advanced_config/parameter_reference.md#EKF2_OF_POS_X), [EKF2_OF_POS_Y](../advanced_config/parameter_reference.md#EKF2_OF_POS_Y) and [EKF2_OF_POS_Z](../advanced_config/parameter_reference.md#EKF2_OF_POS_Z) can be set to account for the offset of the Ark Flow from the vehicle centre of gravity.
 
 In addition you may need to configure the following parameters on the flight controller:
 

diff --git a/en/uavcan/ark_gps.md b/en/uavcan/ark_gps.md
@@ -77,7 +77,8 @@ General instructions for UAVCAN PX4 configuration can also be found in [UAVCAN >
 
 ### PX4 Configuration
 
-The ARK GPS works with default parameters.
+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 GPS from the vehicles centre of gravity.