Updated ARK Flow and added ARK Flow MR

common/source/docs/common-arkflow.rst

@@ -15,6 +15,55 @@ The `ARK Flow Open Source Optical Flow and Distance Sensor <https://arkelectron.
 ..  youtube:: SAbRe1fi7bU
     :width: 100%
 
+Specifications
+==============
+
+-  **Sensors**
+
+   - `Dronecan Optical Flow and Mid-Range Distance Sensor Module <https://dronecan.github.io/>`__
+   - `PixArt PAA3905 Optical Flow Sensor <https://www.pixart.com/products-detail/108/PAA3905E1-Q_>`__
+
+    - Wide working distance from 80mm to infinity
+    - Tracks under super low light condition of >9 lux
+    - Up to 7.4 rad/s
+    - 40mW IR LED built onto board for improved low light operation
+
+   - `Broadcom AFBR-S50LV85D Time-of-Flight Distance Sensor <https://www.broadcom.com/products/optical-sensors/time-of-flight-3d-sensors/afbr-s50lv85d>`__
+
+    - Integrated 850 nm laser light source
+    - Field-of-View (FoV) of 12.4° x 6.2° with 32 pixels
+    - Typical distance range up to 30m
+    - Operation of up to 200k Lux ambient light
+    - Works well on all surface conditions
+    - Transmitter beam of 2° x 2° to illuminate between 1 and 3 pixels
+
+   - `Invensense ICM-42688-P 6-Axis IMU <https://invensense.tdk.com/products/motion-tracking/6-axis/icm-42688-p/>`__
+
+-  **Connections**
+
+   - Two Pixhawk Standard CAN Connectors
+
+    - 4 Pin JST GH
+
+   - Pixhawk Standard Debug Connector
+
+    - 6 Pin JST SH
+
+-  **Power Requirements**
+
+   -  5V
+
+    - 71mA Average
+    - 76mA Max
+
+-  **Other**
+
+   - USA Built
+   - FCC Compliant
+   - 4 Pin Pixhawk Standard CAN Cable
+   - LED Indicators
+   - `ROS2 Support <https://github.com/ARK-Electronics/ros2_dronecan>`__
+
 Where to Buy
 ------------
 
@@ -47,6 +96,11 @@ Additional Notes
 - :ref:`FlowHold <flowhold-mode>` does not require the use of a rangefinder
 - Performance can be improved by setting the :ref:`sensors position parameters <common-sensor-offset-compensation>`.  For example if the sensor is mounted 2cm forward and 5cm below the frame's center of rotation set :ref:`FLOW_POS_X <FLOW_POS_X>` to 0.02 and :ref:`FLOW_POS_Z <FLOW_POS_Z>` to 0.05.
 
+More Information
+-----------------
+
+* `ARK Flow documentation <https://arkelectron.gitbook.io/ark-documentation/sensors/ark-flow/ardupilot-instructions>`_
+
 Testing and Setup
 -----------------
 

common/source/docs/common-arkflow_mr.rst

@@ -0,0 +1,107 @@
+.. _common-arkflow_mr:
+
+=========================================================
+ARK Flow MR Open Source Optical Flow and Distance Sensor
+=========================================================
+
+[copywiki destination="copter,plane,rover"]
+
+The `ARK Flow MR Open Source Optical Flow and Distance Sensor <https://arkelectron.com/product/ark-flow-mr/>`__ 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.
+Next Generation of the :ref:`ARK Flow<common-arkflow>`, designed for mid-range applications.
+
+.. image:: ../../../images/arkflow/ark_flow_mr.jpg
+   :target: ../_images/arkflow/ark_flow_mr.jpg
+   :width: 450px
+
+..  youtube:: SAbRe1fi7bU
+    :width: 100%
+
+
+Specifications
+==============
+
+-  **Sensors**
+
+   - `Dronecan Optical Flow and Mid-Range Distance Sensor Module <https://dronecan.github.io/>`__
+   - `PixArt PAA3905 Optical Flow Sensor <https://www.pixart.com/products-detail/108/PAA3905E1-Q_>`__
+
+    - Wide working distance from 80mm to infinity
+    - No focal length calibration required
+    - Auto detection of challenging conditions, such as checker boards, stripes, glossy surface and yawing
+    - Automatic switching of Operation Mode
+    - 40mW IR LED built onto board for improved low light operation
+
+   - `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
+    - Operation of up to 200k Lux ambient light
+    - Laser Opening Angle of 2° x 2°
+
+   - `Invensense IIM-42653 6-Axis IMU <https://invensense.tdk.com/products/smartindustrial/iim-42653/>`__
+
+-  **Connections**
+
+   - Two Pixhawk Standard CAN Connectors
+
+    - 4 Pin JST GH
+
+   - Pixhawk Standard Debug Connector
+
+    - 6 Pin JST SH
+
+-  **Power Requirements**
+
+   -  5V
+
+    - 86mA Average
+    - 90mA Max
+
+-  **Other**
+
+   - USA Built
+   - NDAA Compliant
+   - 4 Pin Pixhawk Standard CAN Cable
+   - LED Indicators
+   - `ROS2 Support <https://github.com/ARK-Electronics/ros2_dronecan>`__
+
+Where to Buy
+------------
+
+The sensor is available from `ARK Electronics <https://arkelectron.com/product/ark-flow-mr/>`__.
+
+Connection to Autopilot
+-----------------------
+
+- The ARK Flow MR 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.
+
+.. image:: ../../../images/arkflow/ark_flow_orientation.png
+   :target: ../_images/arkflow/ark_flow_orientation.png
+   :width: 450px
+
+- Connect the sensor to the autopilots' CAN port
+- Set :ref:`FLOW_TYPE <FLOW_TYPE>` = 6 (DroneCAN)
+- Set :ref:`CAN_P1_DRIVER <CAN_P1_DRIVER>` = 1 to enable DroneCAN
+- Set :ref:`CAN_D1_PROTOCOL <CAN_D1_PROTOCOL>` = 1 (DroneCAN)
+
+To use the onboard lidar:
+
+- Set :ref:`RNGFND1_TYPE <RNGFND1_TYPE>` = 24 (DroneCAN)
+- Set :ref:`RNGFND1_MAX <RNGFND1_MAX>` = 5000 to set range finder's maximum range to 50m
+
+Additional Notes
+-----------------
+
+- :ref:`FlowHold <flowhold-mode>` does not require the use of a rangefinder
+- Performance can be improved by setting the :ref:`sensors position parameters <common-sensor-offset-compensation>`.  For example if the sensor is mounted 2cm forward and 5cm below the frame's center of rotation set :ref:`FLOW_POS_X <FLOW_POS_X>` to 0.02 and :ref:`FLOW_POS_Z <FLOW_POS_Z>` to 0.05.
+
+More Information
+-----------------
+
+* `ARK Flow MR documentation <https://arkelectron.gitbook.io/ark-documentation/sensors/ark-flow-mr/ardupilot-instructions>`_
+
+Testing and Setup
+-----------------
+
+See :ref:`common-optical-flow-sensor-setup`

common/source/docs/common-optical-flow-sensors-landingpage.rst

@@ -15,6 +15,7 @@ Select the links below for information on the available sensors.
 
     Optical Flow Setup <common-optical-flow-sensor-setup>
     ARK Flow <common-arkflow>
+    ARK Flow MR <common-arkflow_mr>
     Cheerson CX-OF <common-cheerson-cxof>
     HereFlow <common-hereflow>
     Holybro H-Flow <https://holybro.com/products/h-flow>

common/source/docs/common-uavcan-peripherals.rst

@@ -91,6 +91,7 @@ Optical Flow Sensors
     :maxdepth: 1
 
     ARK Flow Open Source Optical Flow and Distance Sensor <common-arkflow>
+    ARK Flow MR Open Source Optical Flow and Distance Sensor <common-arkflow_mr>
 
 Servos
 ======