MavLink over Canbus

[WaveRep]

Hi,

I am wondering in a Pixhawk or Pi based ardupilot, could Mavlink messages coming out of RX/TX Serial pins, be put into a UART to CAN converter, and sent over Canbus?

Or would there be an issue with data overflow?

[geofrancis (GeoMuir)]

You will need to look at AP_periph firmware to get uart on a canbus node.

[WaveRep]

@geofrancis

AP_periph firmware

Hi thanks for the reply.

I am wondering if you can elaborate more?

My quick searches on AP Periph firmware did not yield anything decent from what I can see.
Thanks

[geofrancis (GeoMuir)]

the AP_periph is a canbus node firmware.
https://ardupilot.org/dev/docs/ap-peripheral-landing-page.html

it lets you run another chip/flight controller as a canbus port expander.

[ppoirier]

Hello,

you can search for UAVCAN and TUNNEL on this forum

Here a part of discussion I had a few years back:

CANbus for Ardupilot with UAVCAN and UC4H

Yes, why not, I may have some hanging around. I dont see much detail on connection and annunciator configuration, do you have a link or video ? Tunneling question: The 3 serial tunnels act as additionnals serial ports, right ? There is a lot of interest to get additionals ports, so UAVCAN Tunneling seems appealing , but how these additional ports are managed by ArduPilot, does it create new instances? Here is a practical example, lets say we create an avoidance node with 3 UC4H UartBridge No…

But the question remains , why tunnelling MavLink through this interface ?
UAVCAN - now DRONECAN - is a highly specialized peripheral control bus and using it to “smuggle” other types of signal is really not optimal.