CAN Bus Settings
The following settings affect the operation of CAN Bus on microDRIVE units. CAN Bus operation must be enabled within the communications settings.
Description | ESC channel as per flight controller output number. Determines ESC position within the system/aircraft. |
CAN Name | DRONECAN_INDEX |
Units | N/A |
Advanced | NO |
Description | The ID the ESC will attempt to use to connect to the Dynamic Node Assignment (DN enabled network. The DNA server will apply the next available Node ID if already assigned. A setting of 0 will automatically assign a Node ID. |
CAN Name | DRONECAN_NODEID |
Units | N/A |
Advanced | NO |
Description | Toggle the output of debug text messages over DroneCAN. Disabling this setting may free up some bus utilisation. |
CAN Name | DRONECAN_CNSL_EN |
Units | N/A |
Advanced | YES |
Description | Require armed message within timeout window (CAN Armed Timeout Period) to allow drive. Loss of armed results in unit disarming. Specifically, the unit is awaiting uavcan.equipment.safety.ArmingStatus messages. |
CAN Name | CAN_ARM_CHK_EN |
Units | N/A |
Advanced | YES |
Description | The timeout period where no armed message is present results in shutting down the output drive. The drive will be resumed once the armed packet is present and the throttle is 0%. |
CAN Name | ARM_MSG_TIMEOUT |
Units | N/A |
Advanced | YES |
Description | Ignore DNA server and force the preferred ID setting as the current Node ID utilised within CAN network. |
CAN Name | FORCE_NODEID |
Units | N/A |
Advanced | YES |
Description | Enable the onboard CAN termination resistor. Defaults to OFF, should be setup depending on the system architecture. |
CAN Name | CAN_TERM_EN |
Units | N/A |
Advanced | NO |