CAN Configuration

Configure CAN bus drivers, browse DroneCAN nodes, edit node parameters, and inspect bus traffic.

Drone—

CAN1 bitrate—

CAN2 bitrate—

SLCANInactive

Nodes0

fps0

No drone selected. Connect a flight controller to read or write CAN parameters.

Connect a drone to read or write CAN parameters.

CAN_P1_DRIVER — Driver index

Logical CAN driver this port binds to. 0 disables the port. Reboot required.

CAN_P1_BITRATE — Bitrate

Classic CAN bitrate in bit/s. Typical DroneCAN networks run at 1 Mbit/s.

CAN_P1_FDBITRATE — CAN-FD bitrate

Fast-data-phase bitrate when CAN-FD is used. Ignored on CAN 2.0.

CAN_P1_OPTIONS — Bus options

Bitmask for advanced CAN driver options. 0 = default.

CAN_D1_PROTOCOL — Protocol

Driver-side protocol bound to CAN1. Select DroneCAN for UAVCAN nodes.

CAN_D1_UC_NODE — DroneCAN node ID

Local node ID used by the flight controller on this bus. Range 1 to 125.

CAN_D1_UC_OPTION — DroneCAN options

Bitmask of DroneCAN driver options (e.g. enable internal filter).

CAN_P2_DRIVER — Driver index

Logical CAN driver this port binds to. 0 disables the port. Reboot required.

CAN_P2_BITRATE — Bitrate

Classic CAN bitrate in bit/s.

CAN_P2_FDBITRATE — CAN-FD bitrate

Fast-data-phase bitrate when CAN-FD is used.

CAN_D2_PROTOCOL — Protocol

Driver-side protocol bound to CAN2.

CAN_D2_UC_NODE — DroneCAN node ID

Local node ID used by the flight controller on this bus. Range 1 to 125.

CAN_D2_UC_OPTION — DroneCAN options

Bitmask of DroneCAN driver options.

CAN_SLCAN_CPORT — SLCAN CAN port

Which CAN bus is forwarded over SLCAN. 0 = disabled. Reboot required.

CAN_SLCAN_SERNUM — SLCAN serial port

Which serial port carries the SLCAN stream. Serial0 = USB is the typical choice.

CAN_SLCAN_TIMOUT — SLCAN timeout

Seconds of SLCAN inactivity before the FC reverts the port to MAVLink (0 to 127). 0 = never.

CAN_SLCAN_SDELAY — SLCAN start delay

Seconds to wait after boot before SLCAN starts on the selected serial port.