CAN node ID to any module

ArduPlane VTOL Plane
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1

Hello Everyone!

This post is about the CAN node ID assignment. As I understand, when we connect any UAVCAN-compatible sensor or module, ArduPilot automatically assigns the CAN node ID.

Now, I have a few questions:

  1. Is it possible to manually assign primary and secondary CAN node IDs for dual sensors or modules?
  2. When a UAVCAN module is connected, it appears in the UAVCAN/DroneCAN section under the setup page. From there, we can access parameters and find the option for “CAN_NODE_ID”. If we assign a node ID to this parameter, will it ensure that the sensor retains a fixed node ID?
  3. Is this the correct method for assigning CAN node IDs, especially when managing multiple (8 to 10) UAVCAN modules in a system?
  4. Is it possible that any UAVCAN device has a limitation on CAN Node ID (like it can’t be above 125 or so)?

Thank you in advance! Any additional suggestions or advice on this topic would be greatly appreciated.

@tridge