ArduPilot/CANBUS

Discussion of CAN bus support in ArduPilot

heappy

@heappy

I'm checking the data on the canbus with a Analyzing Soft- and Hardware. But the ID from the msg on the CANBus seems really bizarr

heappy

@heappy

Also, could anyone tell me where the system send out Informations and what kind of Information it is? Seems to be some kind of a Counter

Francisco Ferreira

@OXINARF

@heappy Where are you seeing uavcan::NodeID in ArduPilot? And what do you mean with your last question, what system are you talking about?

heappy

@heappy

@OXINARF I meant the UAVCAN_sniffer example. I examined the code so far. in line 185 uavcan::NodeID self_node_id(...)

heappy

@heappy

I see a message with an identifier higher than 0x7FF. Might be EXTID FMT of the CANbus.

But i can't see any publishing cmd in the code

Francisco Ferreira

@OXINARF

@heappy Well that's UAVCAN, if you want to learn it, you should read the documentation on http://uavcan.org, it is very good and it explains the CAN frame id format

karu2003

@karu2003

which protocols CAN-BUS is Open-Source? I did not find a repository for KDE. In which of the protocols can be used RPM, but not the ESC. What protocol is possible for motor fine-tuning?

Francisco Ferreira

@OXINARF

@karu2003 Not sure I'm following your question. ArduPilot is fully open source, the KDE and Toshiba implementations are in their respective folders, AP_KDECAN and AP_ToshibaCAN. AFAIK, Toshiba implmentation doesn't have telemetry, but KDECAN does, including RPM.

karu2003

@karu2003

@OXINARF I did not find a perository for protocol for AP_KDECAN implementation. I want to add another protocol to my motor controller. :)

Francisco Ferreira

@OXINARF

@karu2003 https://github.com/ArduPilot/ardupilot/tree/master/libraries/AP_KDECAN

@karu2003 Also if you want add it to your motor controller then you don't really need the ArduPilot implementation, KDE provides the protocol on their website

karu2003

@karu2003

@OXINARF https://cdn.shopify.com/s/files/1/0496/8205/files/KDECAN_Bus_Protocol_1.0.0.pdf?11895809671989535815 I expected that the KDECAN protocol has a repository on github in the form of source codes. :(

Francisco Ferreira

@OXINARF

@karu2003 KDE's firmware was never open source so I'm not sure why you expected that

karu2003

@karu2003

@OXINARF There is only one protocol UAVCAN. :(

Francisco Ferreira

@OXINARF

@karu2003 No, ArduPilot supports 3 CAN protocols

karu2003

@karu2003

@OXINARF :)

WilliamYang

@williamyoung0

Does ArduPilot support UAVCAN to upgrade firmware? If so, how to use this function?

For example: how to name the upgrade firmware, how to distinguish which node needs to be upgraded

Because I have created a new node now and want to add this feature.

Francisco Ferreira

@OXINARF

@williamyoung0 No, we don't support firmware upgrade of UAVCAN nodes

WilliamYang

@williamyoung0

Ok, will this feature be added later?

Francisco Ferreira

@OXINARF

That depends on whether someone contributes it. I'm not aware of anyone working on it.

WilliamYang

@williamyoung0

What are the UAVCAN devices that ArduPilot now supports, and where should I get it?

I know that GNSS, RGB, and Battery are currently supported.

Francisco Ferreira

@OXINARF

GPS, Baro, Compass, Airspeed, BattMonitor, Rangefinder, Led

GitZapf

@GitZapf

Is there an actual UAVCAN airspeed sensor available for sale yet?

WilliamYang

@williamyoung0

@OXINARF I heard that the new firmware supports the UAVCAN node upgrade, is this true? If it is how I should use this feature

Francisco Ferreira

@OXINARF

@williamyoung0 Where have you heard that? No, it's not true.

WilliamYang

@williamyoung0

I saw this feature on the MP. @OXINARF

auturgy

@auturgy

@williamyoung0 you can update firmware on uavcan nodes via the slcan feature, but only if the node bootloader supports firmware loading over uavcan. You also need to use a software application that can do it (uavcan GUI, maybe Missionplanner but I’ve never tried that). You don’t need to unplug your peripherals, but it isn’t automatic.

WilliamYang

@williamyoung0

ok，thank you

Pavel Kirienko

@pavel-kirienko

We have published an article about the present and future of UAVCAN: https://forum.uavcan.org/t/uavcan-a-highly-dependable-publish-subscribe-protocol-for-real-time-intravehicular-networking/557

murata,katsutoshi

@muramura

I can not get information by connecting devices supported by UAVCAN. The device is CANBUS 2.0B specification. Can I get information from this device?

Kari Hautio

@kh4

Let me give a heads up here ArduPilot/ardupilot#12139

So there seems to be issues with both stable and dev regarding UAVCAN transmission

adalta87

@adalta87

I have a gremsy S1 gimbal that I was wondering if anyone here with time and the ability would be willing to let me send it to them to try and get it working on uavcan for arducopter and arduplane. I would be willing to throw a couple hundred dollars at this individual.

Francisco Ferreira

@OXINARF

@adalta87 Do you have any info that it supports UAVCAN? I can't find anything about it

adalta87

@adalta87

I suppose I may have jumped the gun and forgot to differentiate UAVCAN vs CAN. I assumed those were the same thing but probably aren't

@OXINARF is there a difference?

Francisco Ferreira

@OXINARF

@adalta87 Yes, CAN is just a hardware bus, there are many protocols running on top of it. AFAIK Gremsy only supports DJI CAN on their CAN bus - that's not public information and they aren't sharing it.

adalta87

@adalta87

well shucks I suppose if enough people hound them for UAVCAN maybe eventually they will have it. good thing it still supports uart

another quick question is when using can devices I notice some require a termination plug (Kotleta20-http://www.holybro.com/product/kotleta20/)and other devices such as the here v2 gps does not what is the difference?

Francisco Ferreira

@OXINARF

It depends on whether the device has built-in termination or not.

adalta87

@adalta87

So in the event that I would like to continue can connection from say those esc to another can device that does support built in termination I would not need to use the termination plug as the last device in the chain will support built in termination?

Francisco Ferreira

@OXINARF

yes

Kari Hautio

@kh4

The CAN termination is just a 120R resistor. A properly terminated CAN bus will show 60 ohms when measured with DMM between CANL and CANH wires.

well that merely confirms there is two termination resistors, to be proper they should be on the far ends of the bus.

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