CAN Bus Settings

The following settings affect the operation of CAN Bus on nanoDRIVE units.

Battery Circuit Status Telem Rate

Description	The rate at which to transmit the DroneCAN Circuit Status message for the battery input circuit. A rate of zero corresponds with no transmission. This setting only affects units equipped with a battery input sensor.
CAN Name	BATT_TLM_FREQ
Units	Units are in Hz (Hertz)
Advanced	YES

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 Signal Priority

Description	Select the priority of the CAN throttle signal. Selecting Primary will cause CAN to override other signals, selecting Secondary will cause CAN to be used when the Primary signal is not available. Setting to None will ignore CAN throttle signals.
CAN Name	CAN_SIG_PRIO
Units	N/A
Advanced	NO

Value Mappings:

0 -> None
1 -> Primary
2 -> Secondary

DroneCAN Allow Configuration When Armed

Description	Toggles if a DroneCAN param set or execute opcode request should be accepted by the unit when the unit is armed. Configuring the unit while armed will require a reboot before being able to drive. Allowing configuration while armed can be helpful during prototyping and if using serial signalling.
CAN Name	CAN_CFG_W_ARMED
Units	N/A
Advanced	YES

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 Base ID

Description	The base preferred node ID that each ESC will enumerate from based on its device index. On a 4in1 unit if the base ID is set to 100, ESC 1 will prefer node ID 100 and ESC 4 will prefer node ID 103. The preferred node ID is the ID the ESC will attempt to use to connect to the DNA-enabled network.
CAN Name	DRONECAN_BASEID
Units	N/A
Advanced	NO

DroneCAN Battery Circuit ID

Description	The ID to assign to the 'circuit_id' field in the DroneCAN Circuit Status telemetry message for the battery circuit. This setting only affects units equipped with a battery input sensor.
CAN Name	BATT_TLM_CIRC_ID
Units	N/A
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 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 Telem Rate

Description	The rate at which (in Hz) to transmit the DroneCAN ESC Status telemetry message. A rate of zero corresponds to no transmission.
CAN Name	CAN_TEL_STAT_RTE
Units	Units are in Hertz (Hz)
Advanced	NO

DroneCAN use Celsius

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

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