ArduPilot/CANBUS

Discussion of CAN bus support in ArduPilot

Buzz

@davidbuzz

I seem to be having issues enabling the parameter CAN_P1_DEBUG ( https://ardupilot.org/copter/docs/parameters.html#can-p1-debug-level-of-debug-for-can-devices ) ... as it doesn't seem to exist in any binary I tried. such as copter4.0.4 or copter 'latest' as of 5 minutes ago.... is there something I need to do to unhide this param, or compile my own version..?

mavproxy "param show *CAN*" doesn't show even though the other CAN params are showing

Buzz

@davidbuzz

... never matter... I discovered its hidden behind a #define in AP_BoardConfig_CAN.h that defaults to 0, so I've built my own binary .

Launchpad-McQ

@Launchpad-McQ

Is there any parameter to adjust like pwm_min, pwm_max, and pwm_trim, but for esc connected over UAVCAN?

Samuel Tabor

@samuelctabor

I'm experiencing some issues with SLCAN on CubeOrange. When on the full carrier board, I can successfully discover an mRo F303 node when connected to the CAN 2 port, but not when connected to CAN 1. On the mini carrier board, I can't discover it connected to CAN 2. However, I have successfully set it up with a MS4525D0 airspeed sensor and that works in all cases

Same result with UAVCAN Gui Tool

I'm using the latest ArduPlane beta

Buzz

@davidbuzz

question about CAN_P1_DRIVER Vs CAN_P2_DRIVER that the documentation doesn't make clear... in the case where the two physical ports are both on UAVCAN, but on different CAN bus's, should it be CAN_P2_DRIVER=1 or CAN_P2_DRIVER=2 ? https://ardupilot.org/copter/docs/common-canbus-setup-advanced.html#common-canbus-setup-advanced

it seems most people set both of them to '1' and most also want both can ports 'on the same bus', but i'm not 'most'.

Launchpad-McQ

@Launchpad-McQ

I am running arduplane 4.0.5 and trying to use UAVCAN with a vesc 6 plus. when I set the output for channel it just spins up to maximum and isnt responding to the throttle. (It worked on an earlier ardupilot version, but that version didnt seem to have uavcan telemetry support)

Launchpad-McQ

@Launchpad-McQ

I think on the earlier version there was only the
CAN_D1_UC_SRV_BM
parameter and not the
CAN_D1_UC_ESC_BM
parameter.

was something changed within the UAVCAN protocol which wasnt updated on vesc?

moluav

@moluav

@tridge UAVCAN GPS has the processing capability, and there is also a magnetic compass inside, so can the magnetic compass be calibrated inside UAVCAN GPS? This eliminates the need to hold the drone for calibration when calibrating the compass.

Andrew Tridgell

@tridge

@moluav no, the calibration depends on the environment, you can't calibrate the compass without it being inside the vehicle

moluav

@moluav

@tridge What if there is no external interference in the place where I install the compass?

Mark Whitehorn

@kd0aij

then there would be no need to calibrate at all :)

moluav

@moluav

The magnetic compass has errors when it leaves the factory. Calibration is also required when crossing regions.

sethjones348

@sethjones348

@davidbuzz I apologize for the delayed response but I am appreciative of the time you took to address my situation. My focus will be more on this project for the next couple of months than it has been. Our system is more like the complete end-to-end system you described, with a "master" controller that addresses other devices using j1939. We also do have access to documentation for the specific bits and bytes of every packet in the bus. With this in mind, we will likely attempt to add the pixhawk to the existing bus. Would the "capturing" described and the software logic to read and write commands/instructions be implemented in its own "AP_J1939" library in the codebase? Thanks!

Malcolm Churn

@ukmook

@tridge tested latest master as pulled from an hour ago, I can get 2 rangefinders one on fc and one on node but can’t get 2 on node using serial, don’t know whether I should be able to but thought I would report my findings.

Andrew Tridgell

@tridge

@ukmook no, we don't support multiple rangefinders on one node yet in AP_Periph

we could add that if there is need for it

Malcolm Churn

@ukmook

@tridge ok thanks just thought I would try

Jan

@swanepoeljan

Hi all, I have tried my hand at writing a libcanard based test program that sends a NodeStatus message every 750ms and can also respond to a GetNodeInfo message. I tested it with UAVCAN GUI tool and it works nicely so far. To make it do something more interesting I added the transmission of uavcan.equipment.power.BatteryInfo and then just hard-coded some fake battery voltage and current readings. Also tested this with UAVCAN GUI and it works.
Problem is that when I hookup my node to my FC with fw 4.0.4 and set battery type to UAVCAN it does not seem to work. To try and debug I toggled a led on my node when it receives NodeStatus from the FC. After power-up it seems like it receives about 5 to 10 messages (flashes) and then nothing more. When I use SLCAN on Mission Planner then I can see my Node and the led keeps flashing (receiving NodeStatus) until I disconnect it.
I know it's hard to say without seeing the code but maybe anybody have some advice were the issue could possibly be?

Jan

@swanepoeljan

As an additional test I added the MagneticFieldStrength message and it shows up but still no BatteryInfo messages. Could somebody maybe confirm that BatteryInfo does indeed work? I see the code is there in AP_BatteryMonitor_UAVCAN and from my limited knowledge I guess it's okay?

Jan

@swanepoeljan

Okay, I can confirm it works! My issues was in the way I handled the dynamic arrays, forgot to add the length bits...

Fredrik Hedberg

@fhedberg

I've just gotten a KDE-UAS125UVC ESC that I'm having weird issues with when trying to set up. Having enabled UAVCAN on can1 and KDECAN on can2 on a BlackCube, once I plug the ESC into can2, can1 stops working and the Here2 GPS fails. When snooping traffic via SLCAN on can1, all UAVCAN activity stop immediately, only to start working again after disconnecting the ESC from can2. Any advice?

James O'Shannessy

@joshanne

Hi All, I have a question re. examples/UAVCAN_sniffer...
I currently have access to a a cube, which is able to run uavcan_gui_tool bus monitor and dump the traffic that way. But I was hoping to run UAVCAN_sniffer, which appears to be able to produce a serial stream of message names and counts.
Strangely, all I appear to see is the system time being printed.

Have I misunderstood the purpose of UAVCAN_sniffer? or am I using it incorrectly?
Thanks

A snippet of the output from the UAVCAN_sniffer example

UAVCAN: init done
2016508
3016393
Successfully mounted SDCard (slowdown=0)
4016395
5016648
6016455
7016806
8016589

Andrew Tridgell

@tridge

I suspect it isn't seeing any packets. I used it yesterday and worked for me

You know cubeblack has can1 and can2 swapped on carrier labels?

James O'Shannessy

@joshanne

That's odd - the uavcan_gui_tool image (above) is from the same cube connected to the same CAN network above - so I know there is messages on the network.

I wasn't aware the cube black has the labels swapped. I've got a cube orange - I haven't seen the swapped labels in any cubepilot documentation for the orange.

I just tried UAVCAN_sniffer again, checking connection on both CAN labels, and still only have the system time being printed. Swapping back to running plane on the cube orange, and checking uavcan_gui_tool I can still see the can node.

My goal is to utilize something like a pixracer to run the UAVCAN_sniffer example.

James O'Shannessy

@joshanne

I guess the other obvious question is, should I be running this from a specific branch or tag?
My periph is running from the latest tagged periph version, and cube was running plane and sniffer from master.

James O'Shannessy

@joshanne

Okay - so this is interesting.
I went from running plane where uavcan_tool_gui was working, then flashing UAVCAN_sniffer without unplugging the cube, and it had messages coming in, in a format I was expecting.

James O'Shannessy

@joshanne

Ahh, the peripheral was 'initialized' and setup for UAVCAN when running plane, and when I reflash to the sniffer, the network is already set up. If I unplug/replug the peripheral, the light constantly flashes, which is searching for network, or network not available, or the like.

Is the sniffer not able to start the network? or is there an extra step there I'm missing?

James O'Shannessy

@joshanne

Eureka! Dynamic Node Allocation. The sniffer doesn't do DNA, so you need to set the param on the periph to hard code the node id. When I did this, the sniffer works first time. :-)

Andrew Tridgell

@tridge

Great!

TarasMelnik

@TarasMelnik

@moluav https://github.com/olliw42/uavcan4hobbyists

TarasMelnik

@TarasMelnik

hello. Tell me how to properly flash the processor f303. I tried and st-flash write build/f303-Universal/bin/AP_Bootloader.bin bold0x8000000
st-flash write build/f303-Universal/bin/AP_Periph.bin bold0x801000 , but the processor does not come out of the bootloader. There were no problems with f103.

Randy Mackay

@rmackay9

Hi there, more and more discussion is moving to discord so you are all invited to join us over there! https://ardupilot.org/discord

Caleb Martin

@caleb272

Hello all, is there a px4 ardupilot fork that uses CANOpen instead of UAVCAN?

Buzz

@davidbuzz

no.

also, px4 is NOT ardupilot.

Caleb Martin

@caleb272

@davidbuzz Sorry yeah, specifically I want to use mavros on a RPI talking to a pixhawk4 via the CAN bus and some other nodes on the network will be using UAVCAN

I saw some stuff about UAVCAN in the mavlink code but its not clear if you can somehow set the mavlink to talk to the FC via CAN or what

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