CAN Bus Settings

the following settings affect the operation of can bus on nano drive 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