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.
CAN Bitrate
Description
Sets the CAN arbitration bitrate
CAN Name
CAN_BITRATE
Units
N/A
Advanced
NO
Value Mappings:
1 -> 125Kbps
2 -> 250Kbps
3 -> 500Kbps
4 -> 800Kbps
5 -> 1Mbps
CAN Bus Enabled
Description
CAN Bus communication enabled on CAN2. ESC will use DroneCAN for control and telemetry. The input of DShot and PWM is disabled. Disabling this setting enables other protocols.
CAN Name
CANBUS_EN
Units
N/A
Advanced
NO
CAN Terminator Enable
Description
Enable the onboard CAN termination resistor. Defaults to OFF to keep the bus loading at optimum levels.
CAN Name
CAN_TERM_EN
Units
N/A
Advanced
NO
DroneCAN Arm Log Level
Description
Sets the log level at which 'ARMED' and 'DISARMED' messages are emitted over DroneCAN.
CAN Name
CAN_ARM_LOG_LVL
Units
N/A
Advanced
YES
Value Mappings:
0 -> DEBUG
1 -> INFO
2 -> WARNING
3 -> ERROR
DroneCAN Armed Message Timeout Period
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
Units are in Milliseconds (Ms)
Advanced
YES
DroneCAN Console Messages
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
DroneCAN ESC Index
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
DroneCAN Extended Telem Rate
Description
The rate at which (in Hz) to transmit the extended DroneCAN telemetry message. A rate of zero corresponds to no transmission.
CAN Name
CAN_TEL_EXT_RATE
Units
Units are in Hertz (Hz)
Advanced
YES
DroneCAN Force NodeID
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
DroneCAN Preferred Node ID
Description
The ID the ESC will attempt to use to connect to the DNA-enabled network. If already assigned, DNA server will apply the next available Node ID. A setting of 0 will automatically assign a Node ID.
CAN Name
DRONECAN_NODEID
Units
N/A
Advanced
NO
DroneCAN Require Armed Msg
Description
Require armed msg within timeout window to allow drive. Loss of armed results in unit disarming. Rearm behaviour may follow zero throttle checks.
CAN Name
CAN_ARM_CHK_EN
Units
N/A
Advanced
YES
DroneCAN use Celsius
Description
Toggle units output over CAN telemetry between Kelvin and Celsius.
CAN Name
CAN_TEMP_UNIT
Units
N/A
Advanced
YES
﻿

Description	Sets the CAN arbitration bitrate
CAN Name	CAN_BITRATE
Units	N/A
Advanced	NO

Description	CAN Bus communication enabled on CAN2. ESC will use DroneCAN for control and telemetry. The input of DShot and PWM is disabled. Disabling this setting enables other protocols.
CAN Name	CANBUS_EN
Units	N/A
Advanced	NO

Description	Enable the onboard CAN termination resistor. Defaults to OFF to keep the bus loading at optimum levels.
CAN Name	CAN_TERM_EN
Units	N/A
Advanced	NO

Description	Sets the log level at which 'ARMED' and 'DISARMED' messages are emitted over DroneCAN.
CAN Name	CAN_ARM_LOG_LVL
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	Units are in Milliseconds (Ms)
Advanced	YES

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	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 rate at which (in Hz) to transmit the extended DroneCAN telemetry message. A rate of zero corresponds to no transmission.
CAN Name	CAN_TEL_EXT_RATE
Units	Units are in Hertz (Hz)
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	The ID the ESC will attempt to use to connect to the DNA-enabled network. If already assigned, DNA server will apply the next available Node ID. A setting of 0 will automatically assign a Node ID.
CAN Name	DRONECAN_NODEID
Units	N/A
Advanced	NO

Description	Require armed msg within timeout window to allow drive. Loss of armed results in unit disarming. Rearm behaviour may follow zero throttle checks.
CAN Name	CAN_ARM_CHK_EN
Units	N/A
Advanced	YES

Description	Toggle units output over CAN telemetry between Kelvin and Celsius.
CAN Name	CAN_TEMP_UNIT
Units	N/A
Advanced	YES

Logging Settings

Communication Settings