CAN 2.0B to DroneCAN Communication

Hardware CAN Devices
1

Hi All,

I am attempting to fly a Holybro X650 with a Hydrogen Fuel Cell.

This fuel cell adopts CAN 2.0B communication protocol - and I am having a hard time ensuring this is compatible with the DroneCAN protocol in Ardupilot.

So far I have:
Connected the CAN Wires to the Pixhawk’s CAN1 Port
Written custom Lua scripts which are in the Pixhawk
Edited Parameters
CAN_P1_DRIVER = 1
CAN_D1_PROTOCOL = 1
CAN_P1_BITRATE = 250000
SCR_ENABLE = 1

Typically, I can receive/transmit CAN signals from this fuel cell - via a CAN-FD device attached to my computer.

Wondering what the best method would be to do the same via Mission Planner - so that I can get this drone airborne.

Open to different approached and purchasing specific DroneCAN Converters/Adaptors.

Many Thanks,
Karan

2

I’m pretty sure the pixhawk 1 CAN transducer doesn’t support CAN FD. Use a newer FC with CAN FD transducer chip.

3

Hey @amilcarlus,

Thanks for the swift reply.

Pardon my ignorance but instead of CAN FD - I am trying to support CAN 2.0B.
Is this something that Ardupilot can support?

Would it make more sense in my case to simply bypass the FC for control over the fuel cell? This might have to be an option if compatibility with Pixhawk is long and arduous.

Would love some clarity