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UAVCAN: Configurable LED Light Control with Flexible Addressing (#26253)

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* feat: implement UAVCAN LED control for individual light control and assignment

* uavcan led: nit-picks from review

* uavcan led: reduce maximum number of lights

to avoid unused parameters

* uavcan led: simplify anticolision on check

* uavcan led: correctly map 8-bit RGB to rgb565

* Trim param name character arrays to 17

16 characters + \0 termination

* uavcan led: final nit-picks

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Claudio Chies
2026-02-16 18:39:48 +01:00
committed by GitHub
co-authored by Matthias Grob
parent 32c94bd3b1
commit e52ce5c43b
9 changed files with 215 additions and 199 deletions
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docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
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@@ -1056,9 +1056,6 @@
1 1 UAVCAN_EC_REV 0 6
1 1 UAVCAN_ENABLE 2 6
1 1 UAVCAN_LGT_ANTCL 2 6
1 1 UAVCAN_LGT_LAND 0 6
1 1 UAVCAN_LGT_NAV 3 6
1 1 UAVCAN_LGT_STROB 1 6
1 1 UAVCAN_NODE_ID 1 6
1 1 UAVCAN_PUB_ARM 0 6
1 1 UAVCAN_PUB_MBD 0 6
docs/en/dronecan/index.md
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@@ -281,6 +281,19 @@ PX4 DroneCAN parameters:
Select the specific CAN interface(s) used for ESC data output using the [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) parameter (all that all interfaces are selected by default).
Note that DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
### Lights
PX4 can control LEDs via DroneCAN [LightsCommand](https://dronecan.github.io/Specification/7._List_of_standard_data_types/#lightscommand) messages.
Configuration:
1. Set [UAVCAN_LGT_NUM](../advanced_config/parameter_reference.md#UAVCAN_LGT_NUM) to the number of lights (0 disables). You might need to reopen the ground station to have parameters for new instances available.
2. For each light slot (0 to NUM-1), set:
- `UAVCAN_LGT_IDx`: The `light_id` matching your peripheral.
- `UAVCAN_LGT_FNx`: `Status` for system status colours, or `Anti-collision` for white beacon.
3. For anti-collision lights, [UAVCAN_LGT_ANTCL](../advanced_config/parameter_reference.md#UAVCAN_LGT_ANTCL) controls when they illuminate (off, armed, prearmed, always on).
4. Reboot for any changes to take effect.
## QGC CANNODE Parameter Configuration
QGroundControl can inspect and modify parameters belonging to CAN devices attached to the flight controller, provided the device are connected to the flight controller before QGC is started.
docs/en/peripherals/vertiq.md
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@@ -38,6 +38,19 @@ Instructions for integrating the motor/ESC using with DroneCAN can be found in [
These instructions walk you through setting the correct parameters for enabling the flight controller's DroneCAN drivers, setting the correct configuration parameters for communication with Vertiq modules on the DroneCAN bus, ESC configuration, and testing that your flight controller can properly control your modules over DroneCAN.
#### LED Configuration for Vertiq Modules
::: info
This configuration is only required if you have the optional [Vertiq LED module add-on](https://www.vertiq.co/add-ons).
Standard Vertiq ESC modules do not include LEDs.
:::
Vertiq LED Add-on modules have two LEDs per ESC (RGB for status, White for anti-collision).
See [DroneCAN Lights](../dronecan/index.md#lights) for configuration instructions.
The `light_id` for each LED is calculated as: `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for White.
### DShot/PWM Configuration
Instructions for integrating the motor/ESC using PWM and DShot can be found in [PWM and DShot Control with a Flight Controller](https://iqmotion.readthedocs.io/en/latest/tutorials/pwm_control_flight_controller.html).