Hi Everybody,
I’ve been analyzing the DroneCAN communication from Here3+ using PCAN hardware and debugging through canard.c. I observed the following message types being transmitted:
Magnetic field strength:1001
Node status:341
GNSS auxiliary:1061
GNSS fix:1063
Debug log message:16383
GNSS status:20003
All these messages are being properly acknowledged by the system.
Objective:
I want to implement a proximity sensor/rangefinder using DroneCAN (message ID 21910/1050), simulating data transmission using PCAN hardware.
Specific Questions
What CAN-ID should be sent from PCAN such that it acts as a proximity sensor in the DroneCAN network?
How should be my message structure such that the ardupilot performs the further missions in AP_Proximity_DroneCAN without any disturbance?
Any guidance on implementing this would be greatly appreciated, particularly regarding device ID configuration and CAN FD frame structuring.