CAN communication with Pixhawk

Hardware Pixhawk family
1

Hi everybody! I’m new to Ardupilot.

In our autonomous vehicle project we use MicroAutoBox II as main unit and we would like to attach Pixhawk with Piksi to the system.

Where can I find details on how the Pixhawk communicate over CAN and what information can we get from it?

2

Is there any update on this topic?

3

Hey there,

Ardupilot support sending some messages over the CAN bus with the UAVCAN protocol. You can refer to CAN bus and UAVCAN/DroneCAN protocol — Dev documentation.

Specifically:

The AP_UAVCAN class supports following messages:

  • Transmission of 1010.ArrayCommand to servos
  • Receiving of 1001.MagneticFieldStrength
  • Receiving of 1028.StaticPressure
  • Receiving of 1029.StaticTemperature
  • Transmission of 1030.RawCommand to ESCs
  • Receiving of 1060.Fix from GNSS
  • Receiving of 1061.Auxiliary from GNSS

Instructions for setting up the CAN Bus can be found here: CAN Bus Setup — Copter documentation

And for UAVCAN: DroneCAN Setup — Copter documentation

Are you trying to do something specific?

4

Thank you very much for the quick response, frizensami.

I am about to start to setup the MicroAutoBox II to communicate with the Pixhawk.

Asked above question to see how far this topic has gone through so that I do not waste of time.

If there is anything related with this topic, please share it with us.

Our mission goal is to setup the MATLAB-Simulink model based Pixhawk SW development tool chain.