CAN Bus Settings
Bus ID
Description | The Battery/Circuit/Device ID of the input bus. This setting determines the ID used in telemetry DroneCAN messages for this channel. |
|---|---|
ID | 0x0145 |
DroneCAN Name | BUS_ID |
Units | N/A |
CAN Bitrate
Description | Sets the CAN arbitration bitrate |
|---|---|
ID | 0x015a |
DroneCAN Name | CAN_BITRATE |
Units | N/A |
Value Mappings:
- 1 -> 125Kbps
- 2 -> 250Kbps
- 3 -> 500Kbps
- 4 -> 800Kbps
- 5 -> 1Mbps
CAN Terminator Enable
Description | Enable the onboard CAN termination resistor. Defaults to off to keep the bus loading at optimum levels. |
|---|---|
ID | 0x0156 |
DroneCAN Name | CAN_TERM_EN |
Units | N/A |
Channel 1 ID
Description | The Battery/Circuit/Device/Hardpoint ID of channel 1. This setting determines the ID used in telemetry DroneCAN messages for this channel, and to which hardpoint command messages it responds to. |
|---|---|
ID | 0x0133 |
DroneCAN Name | CH1_ID |
Units | N/A |
Channel 2 ID
Description | The Battery/Circuit/Device/Hardpoint ID of channel 2. This setting determines the ID used in telemetry DroneCAN messages for this channel, and to which hardpoint command messages it responds to. |
|---|---|
ID | 0x0134 |
DroneCAN Name | CH2_ID |
Units | N/A |
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. |
|---|---|
ID | 0x01b5 |
DroneCAN Name | CAN_CFG_W_ARMED |
Units | N/A |
DroneCAN Arm Message Level
Description | Sets the debug message level at which 'ARMED' and 'DISARMED' console debug messages are emitted over DroneCAN. |
|---|---|
ID | 0x01b4 |
DroneCAN Name | CAN_ARM_LOG_LVL |
Units | N/A |
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 the unit disarming. Channels can be configured to turn off automatically upon disarm to put a vehicle in a safe state. |
|---|---|
ID | 0x01a6 |
DroneCAN Name | ARM_MSG_TIMEOUT |
Units | Units are in Milliseconds (ms) |
DroneCAN Console Messages
Description | Toggle the output of debug text messages over DroneCAN. Disabling this setting may free up some bus utilisation. |
|---|---|
ID | 0x0157 |
DroneCAN Name | DRONECAN_CNSL_EN |
Units | N/A |
DroneCAN Console Messages for Warnings
Description | Toggle the output of debug text messages over DroneCAN when a warning threshold is passed. Disabling this setting may free up some bus utilisation. Warning thresholds will trigger before an error threshold. |
|---|---|
ID | 0x01b3 |
DroneCAN Name | WARN_DBG_MSG |
Units | N/A |
DroneCAN Force NodeID
Description | Ignore DNA server and force the preferred ID setting as the current Node ID utilised within CAN network. |
|---|---|
ID | 0x0158 |
DroneCAN Name | FORCE_NODEID |
Units | N/A |
DroneCAN Preferred Node ID
Description | The ID the device 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. |
|---|---|
ID | 0x0155 |
DroneCAN Name | DRONECAN_NODEID |
Units | N/A |
DroneCAN Require Armed Msg
Description | Require the DroneCAN 1100.ArmingStatus message with the 'FULLY_ARMED' status within timeout window to arm the unit. Certain configurations will only allow a channel to be toggled on when the unit is armed. Channels can be configured to turn on or off on the transition to/from an armed state. When this is disabled the unit is considered always armed, and there is no transition to armed event. |
|---|---|
ID | 0x01a5 |
DroneCAN Name | CAN_ARM_CHK_EN |
Units | N/A |
DroneCAN Telemetry Type
Description | Determines which set of DroneCAN messages should be sent for bus and channel telemetry. Hardpoint 1071.Status messages will only be sent for output channels. The 1092.BatteryInfo message can be easily logged in Ardupilot systems. |
|---|---|
ID | 0x01c6 |
DroneCAN Name | DC_TLM_TYP |
Units | N/A |
Value Mappings:
- 0 -> 1091.CircuitStatus, 1110.Temperature, 1071.Status (Ch Only)
- 1 -> 1092.BatteryInfo
DroneCAN use Celsius
Description | Toggle units output over CAN telemetry between Kelvin and Celsius. |
|---|---|
ID | 0x0159 |
DroneCAN Name | CAN_TEMP_UNIT |
Units | N/A |