search

ArduPilot / ardupilot_wiki

Repository for ArduPilot wiki issues and wiki-specific website infrastructure.
Other
493 stars 1.24k forks source link

Update to ESC CANBus setup for DroneCAN and Piccolo CAN (Currawong) #5104

Closed JacksonUAS closed 1 year ago

JacksonUAS commented 1 year ago

ArduPilot documentation is missing some key information for getting CAN ESC's to work -

https://ardupilot.org/plane/docs/common-uavcan-setup-advanced.html https://ardupilot.org/plane/docs/common-velocity-can-escs.html

Piccolo/Currawong -

CAN Node needs to align to motor number, servo channel set in ardupilot is irrelevant ESC Telemetry is provided under esc number (motor number) .

example - Node 1 = Motor 1 = ESC Telem 1 = Servo x

There should also be a note that "Listen for Broadcast Messages" needs to be enabled in CEquip for the ESC's to respond to FC commands.

Note - Currawong ESC's now support DroneCAN as well.

DroneCAN -

CAN Node ID is irrelevant. ESC index message in DroneCAN GUI needs to align to servo channel associated to the motor number. ESC telemetry is provided as ESC whatever is set to servo channel

example - Motor 1 = Servo x = ESC Index x = ESC Telem x

So if servo 9 is motor 1, x is 9.

Hwurzburg commented 1 year ago

@tridge can you confirm and then lets discuss wiki improvements....

SchrodingersGat commented 1 year ago

@JacksonUAS @tridge we will submit an update to the documentation to address this :)