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* dronecan: esc: change UAVCAN_ESC_IFACE to 2 to default to only outputting on CAN2 * revert param default and update docs * Subedit --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
27 lines
1.2 KiB
Markdown
27 lines
1.2 KiB
Markdown
# DroneCAN ESCs
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PX4 supports DroneCAN compliant ESCs.
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For more information, see the following articles for specific hardware/firmware:
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- [PX4 Sapog ESC Firmware](sapog.md)
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- [Holybro Kotleta 20](holybro_kotleta.md)
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- [Zubax Telega](zubax_telega.md)
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- [Vertiq](../peripherals/vertiq.md) (larger modules)
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- [VESC Project](../peripherals/vesc.md)
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- [RaccoonLab Cyphal and DroneCAN PWM nodes](raccoonlab_nodes.md)
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## Hardware Configuration
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General DroneCAN hardware configuration is covered in [DroneCAN > Hardware Setup](../dronecan/index.md#hardware-setup).
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DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.
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## PX4 Configuration
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DroneCAN peripherals are configured by following the procedure outlined in [DroneCAN](../dronecan/index.md).
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In addition to the general setup, such as setting `UAVCAN_ENABLE` to `3`:
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- 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).
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- Configure the [motor order and servo outputs](../config/actuators.md).
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