ARK Flow Open Source Optical Flow and Distance Sensor¶
The ARK Flow Open Source Optical Flow and Distance Sensor is an open source optical flow sensor including a Broadcom AFBR lidar which uses the CAN protocol to communicate with the autopilot. This can be used to improve horizontal position control especially in GPS denied environments.
Connection to Autopilot¶
The ARK Flow 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 Flow’s second CAN connector.
The recommended mounting orientation is with the connectors on the board pointing towards back of vehicle, as shown in the following picture.
Connect the sensor to the autopilots’ CAN port
Set FLOW_TYPE = 6 (DroneCAN)
Set CAN_P1_DRIVER = 1 to enable DroneCAN
Set CAN_D1_PROTOCOL = 1 (DroneCAN)
To use the onboard lidar: