Add ARK documentation for GPS modules, distance sensors, and power modules

- Added DAN, SAM, SAM Mini, X20, RTK L1 L5 GPS modules - Added ARK distance sensors documentation - Added ARK power modules documentation
2025-12-07 09:41:04 +08:00 · 2025-11-25 13:12:31 -07:00
parent ac2f2cf2c8
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--- a/docs/assets/hardware/gps/ark/ark_dan_gps.jpg
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--- a/docs/assets/hardware/gps/ark/ark_rtk_gps_l1_l5.jpg
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--- a/docs/assets/hardware/gps/ark/ark_sam_gps_mini.jpg
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--- a/docs/assets/hardware/gps/ark/ark_x20_rtk_gps.jpg
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--- a/docs/assets/hardware/power_module/ark_power_modules/ark_12s_payload_power.jpg
+++ b/docs/assets/hardware/power_module/ark_power_modules/ark_12s_payload_power.jpg
--- a/docs/assets/hardware/power_module/ark_power_modules/ark_pab_power_no_connector.jpg
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--- a/docs/assets/hardware/sensors/optical_flow/ark_dist.jpg
+++ b/docs/assets/hardware/sensors/optical_flow/ark_dist.jpg
--- a/docs/en/dronecan/ark_dist.md
+++ b/docs/en/dronecan/ark_dist.md
@@ -0,0 +1,92 @@
+# ARK DIST SR
+
+ARK DIST SR is a low range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
+
+![ARK DIST SR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-dist-sr/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
+- Sensors
+  - [Broadcom AFBR-S50LV85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lv85d)
+    - Typical distance range up to 30m
+    - Integrated 850 nm laser light source
+    - Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
+    - Operation of up to 200k Lux ambient light
+    - Reference Pixel for system health monitoring
+    - Works well on all surface conditions
+    - Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- Pixhawk Standard UART Connector (6 Pin JST SH)
+- Pixhawk Standard Debug Connector (6 Pin JST SH)
+- Small Form Factor
+  - 2.0cm x 2.8cm x 1.4cm
+  - 4g
+- LED Indicators
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5v
+    - 84mA Average
+    - 86mA Max
+
+## Hardware Setup
+
+### Wiring
+
+The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
+
+## Firmware Setup
+
+ARK DIST SR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
+As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+### Enable DroneCAN
+
+The steps are:
+
+- In _QGroundControl_ set the 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)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK DIST SR CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+Distance sensor data should arrive at 40Hz
+
+DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
+
+### PX4 Configuration
+
+#### CAN Configuration\
+
+First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
+
+Set the following parameters in _QGroundControl_:
+
+- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
+- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
+- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `30`.
+
+#### UART/MAVLink Configuration
+
+- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
+- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_X_FORWARD) to `0` (off).
+- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_X_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
+- Set [SER_X_BAUD](../advanced_config/parameter_reference.md#SER_X_BAUD) to `115200`.
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `30`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+
+
+## See Also
+
+- [ARK DIST SR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)
--- a/docs/en/dronecan/ark_dist_mr.md
+++ b/docs/en/dronecan/ark_dist_mr.md
@@ -0,0 +1,92 @@
+# ARK DIST MR
+
+ARK DIST MR is a mid range, open source [DroneCAN](index.md) [distance sensor](../sensor/rangefinders.md).
+
+![ARK DIST MR](../../assets/hardware/sensors/optical_flow/ark_dist.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-dist-mr/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DIST)
+- Sensors
+  - [Broadcom AFBR-S50LX85D Time-of-Flight Distance Sensor](https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lx85d)
+    - Typical distance range up to 50m
+    - Integrated 850 nm laser light source
+    - Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
+    - Operation of up to 200k Lux ambient light
+    - Reference Pixel for system health monitoring
+    - Works well on all surface conditions
+    - Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- Pixhawk Standard UART Connector (6 Pin JST SH)
+- Pixhawk Standard Debug Connector (6 Pin JST SH)
+- Small Form Factor
+  - 2.0cm x 2.8cm x 1.4cm
+  - 4g
+- LED Indicators
+- USA Built
+- NDAA Compliant
+- Power Requirements
+  - 5v
+    - 78mA Average
+    - 84mA Max
+
+## Hardware Setup
+
+### Wiring
+
+The ARK DIST is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
+For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+The ARK DIST can also be connected with UART and communicates over MAVLink sending the [DISTANCE_SENSOR](https://mavlink.io/en/messages/common.html#DISTANCE_SENSOR) message.
+
+## Firmware Setup
+
+ARK DIST MR runs the [PX4 DroneCAN Firmware](px4_cannode_fw.md).
+As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+### Enable DroneCAN
+
+The steps are:
+
+- In _QGroundControl_ set the 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)) and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
+- Connect ARK DIST MR CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+Distance sensor data should arrive at 40Hz
+
+DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
+
+### PX4 Configuration
+
+#### CAN Configuration\
+
+First set the parameters to [Enable DroneCAN](#enable-dronecan) (as shown above).
+
+Set the following parameters in _QGroundControl_:
+
+- Enable [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to 2 for dynamic node allocation.
+- Enable [UAVCAN_SUB_RNG](../advanced_config/parameter_reference.md#UAVCAN_SUB_RNG).
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+- Set [UAVCAN_RNG_MIN](../advanced_config/parameter_reference.md#UAVCAN_RNG_MIN) to `0.08`.
+- Set [UAVCAN_RNG_MAX](../advanced_config/parameter_reference.md#UAVCAN_RNG_MAX) to `50`.
+
+#### UART/MAVLink Configuration
+
+- Set [MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) to the port the sensor is connected to.
+- Set [MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_X_FORWARD) to `0` (off).
+- Set [MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_X_MODE) to `7` or `13` to (Minimal or Low Bandwidth) to reduce memory usage.
+- Set [SER_X_BAUD](../advanced_config/parameter_reference.md#SER_X_BAUD) to `115200`.
+- Set [EKF2_RNG_A_HMAX](../advanced_config/parameter_reference.md#EKF2_RNG_A_HMAX) to `50`.
+- Set [EKF2_RNG_QLTY_T](../advanced_config/parameter_reference.md#EKF2_RNG_QLTY_T) to `0.2`.
+
+
+## See Also
+
+- [ARK DIST MR](https://docs.arkelectron.com/sensor/ark-dist) (ARK Docs)
--- a/docs/en/dronecan/ark_rtk_gps.md
+++ b/docs/en/dronecan/ark_rtk_gps.md
@@ -20,6 +20,7 @@ Order this module from:
    - Multi-band RTK with fast convergence times and reliable performance
    - High update rate for highly dynamic applications
    - Centimetre accuracy in a small and energy efficient module
+    - Moving Base for Heading
  - Bosch BMM150 Magnetometer
  - Bosch BMP388 Barometer
  - Invensense ICM-42688-P 6-Axis IMU
--- a/docs/en/dronecan/ark_rtk_gps_l1_l2.md
+++ b/docs/en/dronecan/ark_rtk_gps_l1_l2.md
@@ -0,0 +1,163 @@
+# ARK RTK GPS L1 L5
+
+[ARK RTK GPS L1 L5](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) is an open source [DroneCAN](index.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.
+
+![ARK RTK GPS L1 L5](../../assets/hardware/gps/ark/ark_rtk_gps_l1_l5.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-rtk-gps-l1-l5/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
+- Sensors
+  - Ublox F9P GPS
+    - Multi-band GNSS receiver delivers centimetre 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
+    - Centimetre accuracy in a small and energy efficient module
+    - Does not Support Moving Base for Heading
+  - 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
+
+## Hardware Setup
+
+### Wiring
+
+The ARK RTK GPS L1 L5 is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### Mounting
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+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).
+
+## Firmware Setup
+
+ARK RTK GPS L1 L5 runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+ARK RTK GPS L1 L5 boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
+
+Firmware target: `ark_can-rtk-gps_default`
+Bootloader target: `ark_can-rtk-gps_canbootloader`
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK RTK GPS L1 L5, 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)).
+
+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 RTK GPS L1 L5 CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+GPS data should arrive at 10Hz.
+
+### PX4 Configuration
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
+- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- 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 L1 L5 from the vehicles centre of gravity.
+
+### ARK RTK GPS L1 L5 Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK RTK GPS L1 L5 itself:
+
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <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 1-127 to use a static node ID.            |
+| <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.                                                                 |
+
+### Setting Up Rover and Fixed Base
+
+Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
+
+PX4 DroneCAN parameters:
+
+- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+
+Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
+
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+
+::: info
+Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
+:::
+
+For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
+
+## LED Meanings
+
+- The GPS status lights are located to the right of the connectors
+  - Blinking green is GPS fix
+  - Blinking blue is received corrections and RTK Float
+  - Solid blue is RTK Fixed
+
+- The CAN status lights are located top the left of the connectors
+  - Slow blinking green is waiting for CAN connection
+  - Fast blinking green is normal operation
+  - Slow blinking green and blue is CAN enumeration
+  - Fast blinking blue and red is firmware update in progress
+  - Blinking red is error
+    - 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 L1 L5 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
+
+### Updating Ublox F9P Module
+
+ARK RTK GPS L1 L5 comes with the Ublox F9P module up to date with version 1.13 or newer. However, you can check the version and update the firmware if desired.
+
+The steps are:
+
+- [Download u-center from u-blox.com](https://www.u-blox.com/en/product/u-center) and install on your PC (Windows only)
+- Open the [u-blox ZED-F9P website](https://www.u-blox.com/en/product/zed-f9p-module#tab-documentation-resources)
+- Scroll down and click on the "Show Legacy Documents" box
+- Scroll down again to Firmware Update and download your desired firmware (at least version 1.13 is needed)
+- While holding down the safety switch on the ARK RTK GPS L1 L5, connect it to power via one of its CAN ports and hold until all 3 LEDs blink rapidly
+- Connect the ARK RTK GPS L1 L5 to your PC via its debug port with a cable such as the Black Magic Probe or an FTDI
+- Open u-center, select the COM port for the ARK RTK GPS L1 L5 and connect
+  ![U-Center Connect](../../assets/hardware/gps/ark/ark_rtk_gps_ucenter_connect.png)
+- Check the current firmware version by selecting View, Messages View, UBX, MON, VER
+  ![Check Version](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_version.png)
+- To update the firmware:
+  - Select Tools, Firmware Update
+  - The Firmware image field should be the .bin file downloaded from the u-blox ZED-F9P website
+  - Check the "Use this baudrate for update" checkbox and select 115200 from the drop-down
+  - Ensure the other checkboxes are as shown below
+  - Push the green GO button on the bottom left
+  - "Firmware Update SUCCESS" should be displayed if it updated successfully
+    ![Firmware Update](../../assets/hardware/gps/ark/ark_rtk_gps_ublox_f9p_firmware_update.png)
+
+## See Also
+
+- [ARK RTK GPS L1 L5 Documentation](https://arkelectron.gitbook.io/ark-documentation/sensors/ark-rtk-gps) (ARK Docs)
--- a/docs/en/dronecan/ark_x20_rtk_gps.md
+++ b/docs/en/dronecan/ark_x20_rtk_gps.md
@@ -0,0 +1,141 @@
+# ARK X20 RTK GPS
+
+[ARK X20 RTK GPS](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) is an open source [DroneCAN](index.md) [RTK GPS](../gps_compass/rtk_gps.md), [u-blox ZED-X20P all-band high precision GNSS module](https://www.u-blox.com/en/product/zed-x20p-module), magnetometer, barometer, IMU, buzzer, and safety switch module.
+
+![ARK X20 RTK GPS](../../assets/hardware/gps/ark/ark_x20_rtk_gps.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-x20-rtk-gps/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_RTK_GPS)
+- Sensors
+  - Ublox ZED-X20P
+    - All-band all constellation GNSS receiver
+    - Best position accuracy and availability in different environments
+    - RTK, PPP-RTK and PPP algorithms expanding the limits of performance
+    - Highest quality GNSS raw data
+    - u-blox end-to-end hardened security
+    - 25Hz update rate
+  - ST IIS2MDC Magnetometer
+  - Bosch BMP390 Barometer
+  - Invensense ICM-42688-P 6-Axis IMU
+- STM32F412VGH6 MCU
+- Safety Button
+- Buzzer
+- Two Pixhawk Standard CAN Connectors (4 Pin JST GH)
+- X20 “UART 2” Connector
+  - 4 Pin JST GH
+  - TX, RX, PPS, GND
+- I2C Expansion Connector
+  - 4 Pin JST-GH
+  - 5.0V, SCL, SDA, 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
+  - 144mA Average
+  - 157mA Max
+
+## Hardware Setup
+
+### Wiring
+
+The ARK X20 RTK GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable. For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
+
+### Mounting
+
+The recommended mounting orientation is with the connectors on the board pointing towards the **back of vehicle**.
+
+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).
+
+## Firmware Setup
+
+ARK X20 RTK GPS runs the [PX4 cannode firmware](px4_cannode_fw.md). As such, it supports firmware update over the CAN bus and [dynamic node allocation](index.md#node-id-allocation).
+
+ARK X20 RTK GPS boards ship with recent firmware pre-installed, but if you want to build and flash the latest firmware yourself, refer to the [cannode firmware build instructions](px4_cannode_fw.md#building-the-firmware).
+
+Firmware target: `ark_can-rtk-gps_default`
+Bootloader target: `ark_can-rtk-gps_canbootloader`
+
+## Flight Controller Setup
+
+### Enabling DroneCAN
+
+In order to use the ARK X20 RTK GPS, 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)).
+
+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 X20 RTK GPS CAN to the Pixhawk CAN.
+
+Once enabled, the module will be detected on boot.
+GPS data should arrive at 10Hz.
+
+### PX4 Configuration
+
+You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle:
+
+- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
+- Enable GPS blending to ensure the heading is always published by setting [SENS_GPS_MASK](../advanced_config/parameter_reference.md#SENS_GPS_MASK) to 7 (all three bits checked).
+- 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 X20 RTK GPS from the vehicles centre of gravity.
+
+### ARK X20 RTK GPS Configuration
+
+You may need to [configure the following parameters](../dronecan/index.md#qgc-cannode-parameter-configuration) on the ARK X20 RTK GPS itself:
+
+| Parameter                                                                                             | Description                                                                                                                                        |
+| ----------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
+| <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 1-127 to use a static node ID.            |
+| <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.                                                                 |
+
+### Setting Up Rover and Fixed Base
+
+Position of the rover is established using RTCM messages from the RTK base module (the base module is connected to QGC, which sends the RTCM information to PX4 via MAVLink).
+
+PX4 DroneCAN parameters:
+
+- [UAVCAN_PUB_RTCM](../advanced_config/parameter_reference.md#UAVCAN_PUB_RTCM):
+  - Makes PX4 publish RTCM messages ([RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream)) to the bus (which it gets from the RTK base module via QGC).
+
+Rover module parameters (also [set using QGC](../dronecan/index.md#qgc-cannode-parameter-configuration)):
+
+- [CANNODE_SUB_RTCM](../advanced_config/parameter_reference.md#CANNODE_SUB_RTCM) tells the rover that it should subscribe to [RTCMStream](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#rtcmstream) RTCM messages on the bus (from the moving base).
+
+::: info
+Use [UAVCAN_PUB_MBD](../advanced_config/parameter_reference.md#UAVCAN_PUB_MBD) and [CANNODE_SUB_MBD](../advanced_config/parameter_reference.md#CANNODE_SUB_MBD) instead if you want to implement moving base (see below) at the same time.
+:::
+
+For more information see [Rover and Fixed Base](../dronecan/index.md#rover-and-fixed-base) in the DroneCAN guide.
+
+## LED Meanings
+
+- The GPS status lights are located to the right of the connectors
+  - Blinking green is GPS fix
+  - Blinking blue is received corrections and RTK Float
+  - Solid blue is RTK Fixed
+
+- The CAN status lights are located top the left of the connectors
+  - Slow blinking green is waiting for CAN connection
+  - Fast blinking green is normal operation
+  - Slow blinking green and blue is CAN enumeration
+  - Fast blinking blue and red is firmware update in progress
+  - Blinking red is error
+    - 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 X20 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
+
+## See Also
+
+- [ARK X20 RTK GPS Documentation](https://docs.arkelectron.com/gps/ark-x20-rtk-gps) (ARK Docs)
--- a/docs/en/dronecan/index.md
+++ b/docs/en/dronecan/index.md
@@ -62,6 +62,8 @@ Supported hardware includes (this is not an exhaustive list):
  - [Holybro RM3100 Professional Grade Compass](https://holybro.com/products/dronecan-rm3100-compass)
  - [RaccoonLab RM3100 Magnetometer](https://docs.raccoonlab.co/guide/gps_mag_baro/mag_rm3100.html)
 - Distance sensors
+  - [ARK Dist](ark_dist.md)
+  - [Ark Dist MR](ark_dist_mr.md)
  - [ARK Flow](ark_flow.md)
  - [Ark Flow MR](ark_flow_mr.md)
  - [Avionics Anonymous Laser Altimeter UAVCAN Interface](../dronecan/avanon_laser_interface.md)
--- a/docs/en/gps_compass/ark_dan_gps.md
+++ b/docs/en/gps_compass/ark_dan_gps.md
@@ -0,0 +1,62 @@
+# ARK DAN GPS
+
+[ARK DAN GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-dan-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox DAN-F10N GPS and industrial magnetometer.
+
+![ARK DAN GPS](../../assets/hardware/gps/ark/ark_dan_gps.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-dan-gps/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_DAN_GPS)
+- Sensors
+  - [u-blox DAN-F10N](https://www.u-blox.com/en/product/dan-f10n-module)
+    - L1/L5/E5a/B2a bands
+    - Consistently strong performance regardless of installation
+    - Integrated SAW-LNA-SAW for exceptional out-of-band jamming immunity
+    - u-blox F10 proprietary dual-band multipath mitigation technology
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+- Pixhawk Standard UART/I2C Connector (6 Pin JST SH)
+- Power Requirements
+  - 5V
+  - 25mA Average
+  - 44mA Max
+- LED Indicators
+  - GPS Fix
+- USA Built
+- NDAA Compliant
+- 6 Pin Pixhawk Standard UART/I2C Cable
+
+## Hardware setup
+
+The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
+It should be mounted front facing, as far away from the flight controller and other electronics as possible.
+
+For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).
+
+## PX4 Configuration
+
+The module should be plug-n-play when used with the `GPS2` port on most flight controllers.
+
+[Secondary GPS Configuration (UART)](../gps_compass/index.md#secondary-gps-configuration-uart) explains how you can configure the port if the GPS is not detected (note, that the configuration is the same, even if you are using GPS 2 as the primary compass).
+
+## Pinout
+
+### Pixhawk Standard UART/I2C Connector - 6 Pin JST-SH
+
+| Pin Number | Signal Name | Voltage |
+| ---------- | ----------- | ------- |
+| 1          | 5V          | 5.0V    |
+| 2          | RX          | 3.3V    |
+| 3          | TX          | 3.3V    |
+| 4          | SCL         | 3.3V    |
+| 5          | SDA         | 3.3V    |
+| 6          | GND         | GND     |
+
+## See Also
+
+- [ARK DAN GPS Documentation](https://arkelectron.gitbook.io/ark-documentation/gps/ark-dan-gps) (ARK Docs)
--- a/docs/en/gps_compass/ark_sam_gps.md
+++ b/docs/en/gps_compass/ark_sam_gps.md
@@ -1,6 +1,6 @@
 # ARK SAM GPS

-[ARK SAM GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps>) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
+[ARK SAM GPS](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.

 ![ARK SAM GPS](../../assets/hardware/gps/ark/ark_sam_gps.jpg)

@@ -33,7 +33,7 @@ Order this module from:
 ## Hardware setup

 The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
-It should be mounted front facing, as far away from the flight controller and other electronics as possible. 
+It should be mounted front facing, as far away from the flight controller and other electronics as possible.

 For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).

--- a/docs/en/gps_compass/ark_sam_gps_mini.md
+++ b/docs/en/gps_compass/ark_sam_gps_mini.md
@@ -0,0 +1,62 @@
+#
+ARK SAM GPS MINI
+
+[ARK SAM GPS MINI](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) is a made in the USA and NDAA-compliant [GNSS/GPS](../gps_compass/index.md) u-blox SAM-M10Q GPS and industrial magnetometer.
+
+![ARK SAM GPS MINI](../../assets/hardware/gps/ark/ark_sam_gps_mini.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-sam-gps-mini/) (US)
+
+## Hardware Specifications
+
+- [Open Source Schematic and BOM](https://github.com/ARK-Electronics/ARK_SAM_GPS/tree/main)
+- Sensors
+  - [u-blox SAM-M10Q](https://www.u-blox.com/en/product/sam-m10q-module)
+    - Less than 38 mW power consumption without compromising GNSS performance
+    - Maximum position availability with 4 concurrent GNSS reception
+    - Advanced spoofing and jamming detection
+  - [ST IIS2MDC Magnetometer](https://www.st.com/en/mems-and-sensors/iis2mdc.html)
+- Pixhawk Standard UART/I2C Connector (6 Pin JST SH)
+- Power Requirements
+  - 5V
+  - 15mA Average
+  - 20mA Max
+- LED Indicators
+  - GPS Fix
+- USA Built
+- NDAA Compliant
+- 6 Pin Pixhawk Standard UART/I2C Cable
+
+## Hardware setup
+
+The module comes with a Pixhawk-standard 6pin connector that will plug into the `GPS2` port on recent Pixhawk flight controllers.
+It should be mounted front facing, as far away from the flight controller and other electronics as possible.
+
+For more information see [Mounting the GNSS/Compass](../gps_compass/index.md#mounting-the-gnss-compass) and [Hardware Setup](../gps_compass/index.md#hardware-setup).
+
+## PX4 Configuration
+
+The module should be plug-n-play when used with the `GPS2` port on most flight controllers.
+
+[Secondary GPS Configuration (UART)](../gps_compass/index.md#secondary-gps-configuration-uart) explains how you can configure the port if the GPS is not detected (note, that the configuration is the same, even if you are using GPS 2 as the primary compass).
+
+## Pinout
+
+### Pixhawk Standard UART/I2C Connector - 6 Pin JST-SH
+
+| Pin Number | Signal Name | Voltage |
+| ---------- | ----------- | ------- |
+| 1          | 5V          | 5.0V    |
+| 2          | RX          | 3.3V    |
+| 3          | TX          | 3.3V    |
+| 4          | SCL         | 3.3V    |
+| 5          | SDA         | 3.3V    |
+| 6          | GND         | GND     |
+
+## See Also
+
+- [ARK SAM GPS MINI Documentation](https://arkelectron.gitbook.io/ark-documentation/gps/ark-sam-gps) (ARK Docs)
--- a/docs/en/gps_compass/index.md
+++ b/docs/en/gps_compass/index.md
@@ -25,7 +25,9 @@ These have been tested by the PX4 dev team, or which are popular within the PX4
 | Device                                                       |     GPS     |          Compass          | [CAN](../dronecan/index.md) | Buzzer / SafeSw / LED | Notes                       |
 | :----------------------------------------------------------- | :---------: | :-----------------------: | :-------------------------: | :-------------------: | :-------------------------- |
 | [ARK GPS](../dronecan/ark_gps.md)                            |     M9N     |          BMM150           |              ✓              |           ✓           | + Baro, IMU                 |
+| [ARK DAN GPS](../gps_compass/ark_dan_gps.md)                 |  DAN-F10N   |          IIS2MDC          |                             |           ✓           |                             |
 | [ARK SAM GPS](../gps_compass/ark_sam_gps.md)                 |  SAM-M10Q   |          IIS2MDC          |                             |           ✓           |                             |
+| [ARK SAM GPS MINI ](../gps_compass/ark_sam_gps_mini.md)      |  SAM-M10Q   |          IIS2MDC          |                             |           ✓           |                             |
 | [ARK TESEO GPS](../dronecan/ark_teseo_gps.md)                | Teseo-LIV4F |          BMM150           |              ✓              |           ✓           | + Baro, IMU                 |
 | [Avionics Anonymous UAVCAN GNSS/Mag][avionics_anon_can_gnss] |   SAM-M8Q   |         MMC5983MA         |              ✓              |           ✘           |                             |
 | [CUAV NEO 3 GPS](../gps_compass/gps_cuav_neo_3.md)           |     M9N     |          IST8310          |                             |           ✓           |                             |
--- a/docs/en/gps_compass/rtk_gps.md
+++ b/docs/en/gps_compass/rtk_gps.md
@@ -23,7 +23,9 @@ It also highlights devices that connect via the CAN bus, and those which support
 | Device                                                                                                    |                             GPS                             | Compass  | [DroneCAN](../dronecan/index.md) | [GPS Yaw](#configuring-gps-as-yaw-heading-source) | PPK |
 | :-------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------: | :------: | :------------------------------: | :-----------------------------------------------: | :-: |
 | [ARK RTK GPS](../dronecan/ark_rtk_gps.md)                                                                 |                             F9P                             |  BMM150  |                ✓                 |                [Dual F9P][DualF9P]                |
+| [ARK RTK GPS L1 L5](../dronecan/ark_rtk_gps_l1_l2.md)                                                     |                             F9P                             |  BMM150  |                ✓                 |                              |
 | [ARK MOSAIC-X5 RTK GPS](../dronecan/ark_mosaic__rtk_gps.md)                                               |                          Mosaic-X5                          | IIS2MDC  |                ✓                 |      [Septentrio Dual Antenna][SeptDualAnt]       |
+| [ARK X20 RTK GPS](../dronecan/ark_x20_rtk_gps.md)                                                         |                             X20P                            |  BMP390  |                ✓                 |                                |
 | [CUAV C-RTK GPS](../gps_compass/rtk_gps_cuav_c-rtk.md)                                                    |                           M8P/M8N                           |    ✓     |                                  |                                                   |
 | [CUAV C-RTK2](../gps_compass/rtk_gps_cuav_c-rtk2.md)                                                      |                             F9P                             |    ✓     |                                  |                [Dual F9P][DualF9P]                |
 | [CUAV C-RTK 9Ps GPS](../gps_compass/rtk_gps_cuav_c-rtk-9ps.md)                                            |                             F9P                             |  RM3100  |                                  |                [Dual F9P][DualF9P]                |
--- a/docs/en/power_module/ark_12s_payload_power_module.md
+++ b/docs/en/power_module/ark_12s_payload_power_module.md
@@ -0,0 +1,59 @@
+# ARK 12S Payload Power Module
+
+The [ARK 12S Payload Power Module](https://arkelectron.com/product/ark-12s-payload-power-module/)  is a dual 5V 6A and 12V 6A power supply and digital power monitor designed for the Pixhawk Autopilot Bus Carrier boards.
+
+![ARK 12S Payload Power Module](../../assets/hardware/power_module/ark_power_modules//ark_12s_payload_power.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-12s-payload-power-module/) (US)
+
+## Hardware Specifications
+
+- **TI INA238 Digital Power Monitor**
+
+  - 0.0001 Ohm Shunt
+  - I2C Interface
+
+- **5.2V 6A Step-Down Regulator**
+
+  - 10V Minimum Input Voltage at 6A Out
+  - Output Over-Current Protection
+
+- **12.0V 6A Step-Down Regulator**
+
+  - 15V Minimum Input Voltage at 6A Out
+  - Output Over-Current Protection
+
+- **75V Maximum Input Voltage**
+
+- **Connections**
+
+  - Solder Pads Battery Input
+  - Solder Pads Battery Output
+  - 6 Pin Molex CLIK-Mate Output
+    - [Matches ARK PAB Carrier Power Pinout](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier/pinout)
+  - 4 Pin Molex CLIK-Mate 12V Output
+
+- **Other**
+
+  - USA Built
+  - Includes 6 Pin Molex CLIK-Mate Cable
+
+- **Additional Information**
+  - Weight: 20.5 g
+  - Dimensions: 3.7 cm x 3.5 cm x 1.3 cm
+
+## PX4 Setup
+
+- Disable the `SENS_EN_INA226` parameter if it is enabled.
+- Enable the `SENS_EN_INA238` parameter.
+- Reboot the flight controller.
+- Set the `INA238_SHUNT` parameter to 0.0001.
+- Reboot the flight controller.
+
+## See Also
+
+- [ARK 12S Payload Power Module Documentation](https://docs.arkelectron.com/power/ark-12s-payload-power-module) (ARK Docs)
--- a/docs/en/power_module/ark_pab_power_module_no_connector.md
+++ b/docs/en/power_module/ark_pab_power_module_no_connector.md
@@ -0,0 +1,51 @@
+#ARK PAB Power Module No Connector
+
+The [ARK PAB Power Module No Connector](https://arkelectron.gitbook.io/ark-documentation/power/ark-pab-power-module)  is a 5V 6A power supply and digital power monitor designed for the Pixhawk Autopilot Bus Carrier boards.
+
+![ARK PAB Power Module No Connector](../../assets/hardware/power_module/ark_power_modules//ark_pab_power_no_connector.jpg)
+
+## Where to Buy
+
+Order this module from:
+
+- [ARK Electronics](https://arkelectron.com/product/ark-pab-power-module-no-connector/) (US)
+
+## Hardware Specifications
+
+- **TI INA226 Digital Power Monitor**
+
+  - 0.0005 Ohm Shunt
+  - I2C Interface
+
+- **5.2V 6A Step-Down Regulator**
+
+  - 33V Maximum Input Voltage
+  - 5.8V Minimum Input Voltage at 6A Out
+  - Output Over-Voltage Protection
+  - Output Over-Current Protection
+
+- **Connections**
+
+  - Solder Pad Battery Input
+  - Solder Pad Battery Output
+  - 6 Pin Molex CLIK-Mate Output
+    - [Matches ARK PAB Carrier Power Pinout](https://arkelectron.gitbook.io/ark-documentation/flight-controllers/ark-pixhawk-autopilot-bus-carrier/pinout)
+
+- **Other**
+
+  - USA Built
+  - FCC Compliant
+  - Includes 6 Pin Molex CLIK-Mate Cable
+
+- **Additional Information**
+  - Weight: 9.5 g
+  - Dimensions: 4.75 cm x 3.43 cm x 0.86 cm
+
+## PX4 Setup
+
+- Enable the SENS_EN_INA226 parameter if it not enabled.
+- Reboot the flight controller.
+
+## See Also
+
+- [ARK PAB Power Module No Connector Documentation](https://arkelectron.gitbook.io/ark-documentation/power/ark-pab-power-module) (ARK Docs)
--- a/docs/en/power_module/index.md
+++ b/docs/en/power_module/index.md
@@ -26,7 +26,9 @@ This section provides information about a number of power modules and power dist
  - [Sky-Drones SmartAP PDB](../power_module/sky-drones_smartap-pdb.md)
 - Digital (I2C) voltage and current power modules (for Pixhawk FMUv6X and FMUv5X derived controllers):
  - [ARK PAB Power Module](../power_module/ark_pab_power_module.md)
+  - [ARK PAB Power Module No Connector](../power_module/ark_pab_power_module_no_connector.md)
  - [ARK 12S PAB Power Module](../power_module/ark_12s_pab_power_module.md)
+  - [ARK 12S Payload Power Module](../power_module/ark_12s_payload_power_module.md)
  - [Holybro PM02D](../power_module/holybro_pm02d.md)
  - [Holybro PM03D](../power_module/holybro_pm03d.md)
 - [DroneCAN](../dronecan/index.md) power modules
--- a/docs/en/sensor/rangefinders.md
+++ b/docs/en/sensor/rangefinders.md
@@ -15,6 +15,12 @@ This is a subset of the rangefinders that can be used with PX4.
 There may also be other DroneCAN rangefinders than those listed here.
 :::

+### ARK DIST SR & ARK DIST MR
+
+[ARK DIST SR](../dronecan/ark_dist.md) and [ARK DIST MR](../dronecan/ark_dist_mr.md) are open-source Time-of-Flight (ToF) rangefinder modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.
+It can be connected to the flight controller via its CAN1 port, allowing additional sensors to connect through its CAN2 port.
+It supports [DroneCAN](../dronecan/index.md), runs [PX4 DroneCAN Firmware](../dronecan/px4_cannode_fw.md), and is packed into a tiny form factor.
+
 ### ARK Flow & AKR Flow MR

 [ARK Flow](../dronecan/ark_flow.md) and [ARK Flow MR](../dronecan/ark_flow_mr.md) are open-source Time-of-Flight (ToF) and optical flow sensor modules, which are capable of measuring distances from 8cm to 30m and from 8cm to 50m, respectively.