DroneCan ESC Issue

ArduCopter
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1

Hi everyone,

I am integrating a MAD AMP-X 200A V2 ESC with a Cube Orange using DroneCAN.
I followed the ArduPilot documentation here:
https://ardupilot.org/copter/docs/common-uavcan-escs.html

Problem summary:
The ESC never appears on the DroneCAN bus.

In Mission Planner → DroneCAN → MAVlinkCAN1 mode, I only see:

  • Node ID 10 (Cube Orange)

  • Node ID 127 (Mission Planner virtual node)

The ESC node never shows up. There is no heartbeat or NodeStatus message from the ESC.

What has been verified so far:

  • CAN wiring is correct (CAN_H, CAN_L, GND verified).

  • 120 ohm termination is installed.

  • CAN parameters in ArduPilot are set as:

    CAN_P1_DRIVER = 1  
CAN_D1_PROTOCOL = 1  
MOT_PWM_TYPE = 9

  • The ESC powers on normally and beeps continuesly.

Before proceeding with firmware flashing or obtaining the MAD ESC programming tool, I would like clarification from anyone who has experience with this exact model.

I have used other CAN esc’s (AM32 Drone CAN ESCs, for testing) on the cube orange with this setup and they worked great**.**

Below you can see pram list I am using

param list.param (21.0 KB)

2

Hello There,
As I found out I should assign some value to CAN_D1_UC_NODE, which will help Cube to find and read ESC, But I don’t know what should I type. does anyone have any idea what should it be?
P.s.
Here’s the manual which was given to me by Mad Motors
MANUAL

3

We found out that ordered esc’s are cyphalCAN and not DroneCAN protocol.
I couldn’t find any guide to connect cyphalCAN to ardupilot, is there any way to do so?

4

No. Want to read all about why? Cyphal Support