Added ARK G5 and G5 Heading RTK GPSs #26154

patrikpordi · 2025-12-20T00:54:12Z

Solved Problem

Added Docs for ARK G5 and G5 Heading RTK GPS

Copilot

Pull request overview

This pull request adds documentation for two new ARK G5 RTK GPS devices: the standard ARK G5 RTK GPS and the ARK G5 RTK HEADING GPS with dual-antenna heading capability. Both devices use Septentrio mosaic-G5 modules and connect via DroneCAN.

Key changes:

Added two new documentation pages for the ARK G5 RTK GPS variants
Updated the RTK GPS comparison table with entries for both new devices
Added table of contents entries for the new documentation pages

Reviewed changes

Copilot reviewed 4 out of 5 changed files in this pull request and generated 11 comments.

File	Description
docs/en/gps_compass/rtk_gps.md	Added table entries for ARK G5 RTK GPS and ARK G5 RTK HEADING GPS
docs/en/dronecan/ark_g5_rtk_gps.md	New documentation page for standard ARK G5 RTK GPS module
docs/en/dronecan/ark_g5_rtk_heading_gps.md	New documentation page for ARK G5 RTK HEADING GPS with dual-antenna capability
docs/en/SUMMARY.md	Added navigation entries for both new GPS modules

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

docs/en/dronecan/ark_g5_rtk_gps.md

docs/en/dronecan/ark_g5_rtk_heading_gps.md

docs/en/gps_compass/rtk_gps.md

docs/en/dronecan/ark_g5_rtk_gps.md

docs/en/dronecan/ark_g5_rtk_heading_gps.md

docs/en/dronecan/ark_g5_rtk_gps.md

docs/en/gps_compass/rtk_gps.md

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

dakejahl · 2025-12-20T21:30:03Z

docs/en/dronecan/ark_g5_rtk_gps.md

+- 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 G5 RTK GPS CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.


Should we mention the termination resistor via CANNODE_TERM? People are often unaware of this.

Just like this?
[CANNODE_TERM]-CAN built-in bus termination.
Should we mention [CANNODE_NODE_ID] as well then?

dakejahl · 2025-12-20T21:31:24Z

docs/en/dronecan/ark_g5_rtk_heading_gps.md

+
+#### SEP_OUT_RATE (enum)
+
+Configures the output rate for GNSS data messages.


What do we recommend?

-1 OnChange, it would go as fast as possible.

docs/en/dronecan/ark_g5_rtk_gps.md

docs/en/dronecan/ark_g5_rtk_heading_gps.md

hamishwillee · 2025-12-24T01:34:02Z

docs/en/gps_compass/rtk_gps.md

+| Device                                                                                                    |         GPS          | Compass  | [DroneCAN] |         [GPS Yaw]         | PPK |
+| :-------------------------------------------------------------------------------------------------------- | :------------------: | :------: | :--------: | :-----------------------: | :-: |
+| [ARK G5 RTK GPS](../dronecan/ark_g5_rtk_gps.md)                                                           |    [mosaic-G5 P3]    | IIS2MDC  |     ✓      |                           |     |
+| [ARK G5 RTK HEADING GPS](../dronecan/ark_g5_rtk_heading_gps.md)                                           |   [mosaic-G5 P3H]    | IIS2MDC  |     ✓      | [Heading][mosaic-G5 P3H]  |     |


This just links to the product page - is this "Septentrio Dual Antenna" heading as linked from the other topics?

No, or sort of. This is a dual antenna GPS, unique to this model, that is what I tried pointing out.
I could add https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-G5-P3H instead of the name!

docs/en/dronecan/ark_g5_rtk_gps.md

hamishwillee · 2025-12-24T01:41:26Z

docs/en/dronecan/ark_g5_rtk_heading_gps.md

+### Parameter references
+
+#### SEP_OFFS_YAW (float)
+
+Heading offset angle for dual antenna GPS setups that support heading estimation.
+Set this to 0 if the antennas are parallel to the forward-facing direction of the vehicle and the Rover/ANT2 antenna is in front.
+The offset angle increases clockwise.
+Set this to 90 if the ANT2 antenna is placed on the right side of the vehicle and the Moving Base/MAIN antenna is on the left side.
+
+- Default: 0
+- Min: -360
+- Max: 360
+- Unit: degree
+
+#### SEP_OFFS_PITCH (float)
+
+Vertical offsets can be compensated for by adjusting the Pitch offset.
+Note that this can be interpreted as the "roll" angle in case the antennas are aligned along the perpendicular axis. This occurs in situations where the two antenna ARPs may not be exactly at the same height in the vehicle reference frame. Since pitch is defined as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is mounted lower than the aux antenna (assuming the default antenna setup) will result in a positive pitch.
+
+- Default: 0
+- Min: -90
+- Max: 90
+- Unit: degree
+
+#### SEP_OUT_RATE (enum)
+
+Configures the output rate for GNSS data messages.
+
+- -1: OnChange
+- 50: 50 ms
+- 100: 100 ms
+- 200: 200 ms
+- 500: 500 ms


This whole section is "floating" - it has no context. These parameters don't exist in PX4 and there is no way to know what to do with them from here. My assumption is that perhaps they are GPS parameters that can be set via CAN? Using QGC?

If so, explain what these are, and link to https://docs.px4.io/main/en/dronecan/#qgc-cannode-parameter-configuration

These are actually PX4 params, but they only exist in our private fork, we ship this GPS with that firmware.
I can mention this in a paragraph if you think it is sufficient. Let me know if you have any other suggestions!

I think you are saying that "the GPS runs a version of PX4 as the firmware?"

I'm still a bit confused about how the user sees them? Are you saying that if you plug in the GPS to an FC then you will see the parameters as well? Or that you can plug in QGC to the GPS to set these? Or something else?

Either way, yes, please explain them below ## Parameter References because otherwise readers will be as confused as I am.

hamishwillee

@patrikpordi I had a first look and did a subedit. Did you find the Copilot review at all helpful? I've been experimenting with feeding it soem of our docs standard.

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

github-actions · 2025-12-30T22:37:37Z

No flaws found

patrikpordi · 2025-12-30T23:22:24Z

@hamishwillee Thanks for the review, I left some comments, once those clarify I make the edits!
I think copilot was pretty useful, pointing out some obvious mistakes(copy paste errors/ typos etc), but it is also a bit overwhelming, looking at the history above takes a minute now although this is not a complicated PR.

Added ARK G5 and G5 Heading RTK GPSs

e8c60da

patrikpordi requested review from Copilot and hamishwillee December 20, 2025 00:54

github-actions bot added the Documentation 📑 label Dec 20, 2025

patrikpordi requested a review from dakejahl December 20, 2025 00:54

Copilot started reviewing on behalf of patrikpordi December 20, 2025 00:54 View session

Copilot AI reviewed Dec 20, 2025

View reviewed changes

patrikpordi and others added 5 commits December 19, 2025 17:58

Update docs/en/dronecan/ark_g5_rtk_gps.md

88fac39

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Update docs/en/dronecan/ark_g5_rtk_heading_gps.md

fdf064d

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Update docs/en/gps_compass/rtk_gps.md

af7a912

Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>

Fixed spaces

7f3eab9

Fixed minor issues

0bd7b58

dakejahl reviewed Dec 20, 2025

View reviewed changes

hamishwillee reviewed Dec 24, 2025

View reviewed changes

docs/en/dronecan/ark_g5_rtk_gps.md Outdated Show resolved Hide resolved

hamishwillee reviewed Dec 24, 2025

View reviewed changes

docs/en/dronecan/ark_g5_rtk_heading_gps.md Outdated Show resolved Hide resolved

hamishwillee added 3 commits December 24, 2025 11:50

Fix flaw reports

91de7fb

Prettier, file reduce

ef13b49

Subedit

003edd2

hamishwillee reviewed Dec 24, 2025

View reviewed changes

docs/en/dronecan/ark_g5_rtk_gps.md Show resolved Hide resolved

hamishwillee reviewed Dec 24, 2025

View reviewed changes

docs/en/dronecan/ark_g5_rtk_gps.md Show resolved Hide resolved

hamishwillee reviewed Dec 24, 2025

View reviewed changes

docs/en/dronecan/ark_g5_rtk_gps.md Outdated Show resolved Hide resolved

Led sdction tidy

d21c1b9

hamishwillee reviewed Dec 24, 2025

View reviewed changes

Update docs/en/dronecan/ark_g5_rtk_gps.md

5c3b306

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>


		#### SEP_OUT_RATE (enum)

		Configures the output rate for GNSS data messages.

Added ARK G5 and G5 Heading RTK GPSs #26154

Are you sure you want to change the base?

Added ARK G5 and G5 Heading RTK GPSs #26154

Conversation

patrikpordi commented Dec 20, 2025

Solved Problem

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

hamishwillee left a comment

Choose a reason for hiding this comment

Uh oh!

github-actions bot commented Dec 30, 2025

Uh oh!

patrikpordi commented Dec 30, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

patrikpordi commented Dec 30, 2025 •

edited

Loading