CAN Bus Settings
The following settings affect the operation of CAN Bus on microDRIVE LP units.
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
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 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 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 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 |