Using MatekL431 adapters for PWM and DShot

Blog
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Hi,
I use Matek CAN-L4-PWM (AP_Periph DroneCAN to PWM Adapter, CAN-L4-PWM – Matek Systems) to connect 4 servos. I am able to output the correct servo signals using OUT1 to OUT4. So far so good, but I can only configure OUT1 … OUT5.
Because I’m using servos I would like to use pins 5 to 8 because these pins also have VX available instead of Rx1 for pins 1 to 4 and therefore I can directly connect the servos to these ports.

The problem is, I see no way to configure OUT6 to OUT9 in the parameters of the node. I updated the firmware of the node to the newest version Mission Planner suggested (currently running 1.7.9C6F307F, org.ardupilot.MatekL431-Periph). How can I configure ports 6 to 9?

Thanks in advance!

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For anyone having the same problem. The CAN-L4-PWM hardware came with MatekL431-Periph firmware pre installed but to be able to use all 9 outputs the MatekL431-DShot firmware has to be installed. This can be done via DroneCAN Gui.

2 Likes
64

Hi,
I have an Orange Cube with ArduCopter V4.2.3 (a480c0a7) - I can’t update it. I want to connect the ESC telemetry through AP_Periph CAN Node L431 – Matek Systems. Only ESC telemetry. All the motors are connected to Orange Cube itself. ESC telemetry works using the Cube GPS2.
The node works. I flashed it with MatekL341-Dshot firmware.
What I have a node setup following way:
OUT_DSHOT_RATE = 0
OUT_DSHOT_ESC = 1
ESC_TELEM_PORT = 0 - UART1
ESC_TELEM_RATE = 50
ESC_PWM_TYPE = 7
How can I fix it? Any advice?

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Upgrade to 4.5.7 version and retest. If it is fixed there, backport the fixed code to 4.2.3.

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Thank you for the response!
What do you mean backport the fixed code?

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If you do not understand that, then it is too complex for you. Elaborate on why you can not update.

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I wrote a Chinese article for developers from China：https://juejin.cn/post/7388404014377533481 ( DroneCAN to PWM Adapter which can convert DroneCAN to PWM、DroneCAN to dshot and DroneCAN to bdshot）。

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Unfortunately I think that you are right :frowning:
I’m modifying a drone, the requirement is to keep it as close as possible to the original version so I can’t change its firmware.

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Ask your boss if he thinks that software is like Port wine it improves with age.

If he says yes, explain him why that does not make sense:

  • Software does NOT age, it sill has the same bugs it had when it was written.
  • Newer software versions have more tests due to the diligent work of @peterbarker
1 Like
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We all know that, believe me, but the situation is more complicated.
I will update the fw, let’s see if it works first.

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Hi @amilcarlucas, @Sampson.
I am experiencing Oscillations on my Quad due to the module.(validated with direct PWM outputs from FC & compared with PWM outputs from CAN-PWM converter)
So I have been using the CAN-L4-PWM to transmit CAN to ESC PWM outputs. But this limits my max refresh rate to 200Hz( CAN_D1_UC_SRV_RT=200hz), while the max ESC refresh rate is 500Hz(T-motor Alpha 60A LV)

How can I solve this issue of refresh rate lag causing oscillations.

Currently Outputs are mapped from OUT5-OUT8 of the PWM converter, Can PWM ESC work on PIN 1-4?

Tried CAN_D1_UC_ESC_BM, but there is no signal to the motors.
Are PWM ESC meant for OUT5-OUT9, as I only see description for servo setup. or can they also work on OUT1-OUT4?,

Will OUT_RATE help, or will it be limited to CAN_D1_UC_SRV_RT?

Thanks in advance.

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Is there a way to connect more than 6 servos to the Matek L431 PWM node using the designated ESC outputs 1-4 and power servos connected to ESC outputs not from the center pin (rx telemetry) but from a separate 5V power brick?

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How can I connect an ELRS or other radio receiver or telemetry module to the CanNode L-431? How can I use existing UARTs, how to configure them?

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Sorry you can’t right now. RC support is only unidirectional currently.

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Can I use UART as DisplayPort or is that not possible either?

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I am trying to use MatekL431 with Pixhawh Cube Orange. Is it possible to use two L431s for each side of my UAV? I have a VTOL UAV with highly modular wings, and I need to minimize the number of cable connections between the wings. So I need to place the L431s in parallel on the CAN port and send the CAN connection to each left and right wing. So, is it possible?

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Yes, it is. That is the perfect usecase for the L431

1 Like
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Yes, it is possible, I’m actually doing exactly that on a VTOL. One MatekL431 in each wing. You have to manually set the can id for each MatekL431 and then you should be good to go.

2 Likes
80

Hello,

I am aware that pins 1 through 4 on this Matek L4-PWM board are dedicated to the ESC.
How should I modify the parameters to keep pins 1 and 2 dedicated to the ESC and change pins 3 and 4 to servo motor output?