DroneCAN Index uavcan_esc_index

Hardware CAN Devices
1

Hi, I am working with DroneCAN-enabled ESCs from Zubax for the first time.
I understand each ESC has to have an independent node ID, i.e. 10 to 17 for 8 consecutive ESCs.
However, I can not find any information on Index. All there is in the Zubax guide is : -
“Beware that Myxa does not support automated ESC index assignment 30. The parameter uavcan.esc_index must be configured manually.”

Any help please on the meaning of Index and what they should be set to?

Thanks
Anthony

2

there is the esc node id - That is the number of the Can node only.

Every can node receives the messages on the bus including all ESC values.

With the ESC-index you can assign the correct esc value to the corresponding ESC/motor.

The can-ids must be all different, but you could enter the same esc_index on more than one node. → Same output on multiple motors.

3

Thank you for your reply