---
title: CAN Bus Settings
slug: legacy-doc-gk2/can-bus-settings
icon: 🔧
createdAt: 2024-01-14T23:54:52.882Z
---

:::hint{type="info"}
The following settings affect the operation of CAN Bus on micro**DRIVE** 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                                                                |