Communications

an overview of supported micro flux 2mpi communications protocols can bus signaling can bus is required for configuration of the unit it can also optionally be used during operation to monitor telemetry from the unit and control the channel states can termination terminating the can properly ensures signal integrity during operation it is recommended that each end of the can network be terminated this usually means that termination is enabled on the unit farthest away from the flight computer the can termination resistor can be enabled on the micro flux using the can terminator enable setting see the settings sections for further details dronecan micro flux supports the dronecan protocol over can bus connection over dronecan allows for channel turn on/off, telemetry, configuration and firmware updating micro flux can be connected to hargrave configurator through dronecan for an improved configuration and firmware updating experience performing firmware updates or connecting to the hargrave configurator through dronecan may have a degraded experience with high telemetry rates command messages outputs can be turned on and off during runtime using the dronecan hardpoint command message 1070 command uavcan https //github com/dronecan/dsdl/blob/master/uavcan/equipment/hardpoint/1070 command uavcan the following command values are used 0 turn the channel off 1 turn the channel on forcing node id the units support dynamic node allocation (dna) within the dronecan ecosystem, allowing quick connection to an existing network the downside is that on any given power up event, the unit may change the node id it is assigned while on the network this makes it difficult to review data and may even result in units not connecting if dna is not operating if all devices are known on the network then it is recommended to force the node ids to a known value when dronecan force nodeid is enabled the preferred node id is forced this ensures a given unit will connect using only the given id however, duplication of ids should be avoided forcing a node id can reduce the time taken for the unit to be on the dronecan network from start up preferred node id the preferred node id (and the node id that will be forced if force node id is enabled) on micro flux units is configured using the dronecan preferred node id setting control and telemetry ids the ids that are used in telemetry and hardpoint command messages can be configured individually for the input bus and output channels this id is used across the different types of dronecan telemetry messages each id should be unique for all messages types in use for the entire dronecan network arming dronecan supports arming through the 1100 armingstatus message https //github com/dronecan/dsdl/blob/master/uavcan/equipment/safety/1100 armingstatus uavcan by default, this message is required to turn output channels on with dronecan hardpoint command messages the unit must receive a dronecan arming packet with the "status fully armed" status within the configured armed message timeout (5s default duration) to remain armed or driving the unit will immediately disarm after receiving an arming packet with the "status disarmed" status