Does ArduPilot Support External IMU over DroneCAN (AP_Periph)?

Hardware CAN Devices
, ,
1

Hi everyone,

I’m experimenting with AP_Periph running on a custom STM32F405 CAN node, which includes an SPI-based IMU (ICM20602). The node is functioning correctly and is detected via DroneCAN — I can see it listed in the CAN Inspector.

My main question is:

:puzzle_piece: Does ArduPilot currently support using an external IMU via DroneCAN for state estimation?

If anyone has experience or can clarify:

  • Is CAN-based IMU integration officially supported for attitude estimation?
  • Are there any parameters or configuration steps required to enable this functionality?
  • If not supported yet, is it on the development roadmap?

Thanks in advance