From 62a95a8ac88734574d15994dae7c09ba16da561d Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Fri, 29 Aug 2025 09:11:37 -0800 Subject: [PATCH] dronecan: esc: change UAVCAN_ESC_IFACE to 2 to default to only outputting on CAN2 --- docs/en/dronecan/index.md | 4 +++- src/drivers/uavcan/module.yaml | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/en/dronecan/index.md b/docs/en/dronecan/index.md index 75a211b927d9..f71d8ef4112a 100644 --- a/docs/en/dronecan/index.md +++ b/docs/en/dronecan/index.md @@ -270,6 +270,8 @@ PX4 DroneCAN parameters: [DroneCAN ESCs and servos](../dronecan/escs.md) require the [motor order and servo outputs](../config/actuators.md) to be configured. +Select the CAN interface you want to output the ESC data on. By default CAN2 is selected. [UAVCAN_ESC_IFACE](../advanced_config/parameter_reference.md#UAVCAN_ESC_IFACE) + ## 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. @@ -307,7 +309,7 @@ If successful, the firmware binary will be removed from the root directory and t **Q**: The motors aren't spinning when armed. -**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output. +**A**: Make sure `UAVCAN_ENABLE` is set to `3` to enable DroneCAN ESC output. Make sure `UAVCAN_ESC_IFACE` is set to the interface you're using. --- diff --git a/src/drivers/uavcan/module.yaml b/src/drivers/uavcan/module.yaml index 0579870297b1..1566897b4fef 100644 --- a/src/drivers/uavcan/module.yaml +++ b/src/drivers/uavcan/module.yaml @@ -20,7 +20,7 @@ parameters: 5: CAN6 6: CAN7 7: CAN8 - default: 255 + default: 2 min: 1 max: 255 reboot_required: true