CAN Bus Settings

the following settings affect the operation of can bus on nano drive units arinc custom node service offset description this will offset the service function codes (sfcs) of the custom hargrave node services the new sfc can be calculated by adding this offset to the defined sfc this setting should be used if there is a conflict of sfcs with an existing system id 0x0191 dronecan name arinc nsc offset units n/a advanced yes arinc esc status 1 rate description set the output rate of the arinc 825 esc status 1 telemetry message id 0x009b dronecan name arinc stat1 hz units units are in hertz (hz) advanced no arinc esc status 2 rate description set the output rate of the arinc 825 esc status 2 telemetry message id 0x009c dronecan name arinc stat2 hz units units are in hertz (hz) advanced no arinc esc status 3 rate description set the output rate of the arinc 825 esc status 3 telemetry message id 0x009d dronecan name arinc stat3 hz units units are in hertz (hz) advanced no arinc fid description the arinc 825 functional code identifier (fid) of the device id 0x009f dronecan name arinc fid units n/a advanced no arinc phsm rate description set the output rate of the arinc 825 periodic health status message (phsm) id 0x009e dronecan name arinc phsm hz units units are in hertz (hz) advanced yes arinc profile id description the number to the left of the decimal place of the arinc 825 profile id id 0x018c dronecan name arinc pf id units n/a advanced no arinc profile sub id description the number to the right of the decimal place of the arinc 825 profile id id 0x018d dronecan name arinc pf s id units n/a advanced no arinc sid description the arinc 825 server id (sid) of the device this should be unique for each device on the bus id 0x00a0 dronecan name arinc sid units n/a advanced no arinc tunnel fid description the fid of the hargrave configurator that the device will respond to for the arinc 825 hargrave protocol tunnel setting this fid to 0 will disable the hargrave protocol tunnel id 0x018e dronecan name arinc tunnel fid units n/a advanced no 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 id 0x0161 dronecan name batt tlm freq units units are in hz (hertz) advanced yes can bitrate description sets the can arbitration bitrate id 0x0084 dronecan name can bitrate units n/a advanced no value mappings 1 > 125kbps 2 > 250kbps 3 > 500kbps 4 > 800kbps 5 > 1mbps can protocol description the can protocol to use on the device can bus id 0x009a dronecan name can protocol units n/a advanced no value mappings 0 > dronecan 1 > arinc 825 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 id 0x0163 dronecan 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 id 0x0179 dronecan 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 id 0x0099 dronecan 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% id 0x0038 dronecan 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 id 0x0091 dronecan 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 id 0x0162 dronecan 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 id 0x0022 dronecan 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 id 0x001f dronecan 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 id 0x0061 dronecan 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 id 0x0063 dronecan 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 id 0x0036 dronecan 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 id 0x0165 dronecan 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 id 0x001c dronecan name can temp unit units n/a advanced yes