AM32 DroneCAN Control over ArduPilot SITL

Video Tutorial

Wiring

  • Diagram AM32 Dronecan Wiring
  • Example AM32 Dronecan Wiring
  • Hardware List
    • Vimdrones ESC DEV
    • Vimdrones STLINK V3
    • Vimdrones CAN Adapter
    • Vimdrones CAN Splitter

Setup Native CAN Interface

ifconfig -a
sudo ip link set can0 up type can bitrate 1000000

Build ArduPlane from Source

git clone https://github.com/ArduPilot/ardupilot
cd ardupilot
#build environment setup cloud take sometime, we skip in here, please visit https://ardupilot.org/dev/docs/building-the-code.html
./Tools/autotest/sim_vehicle.py -v ArduPlane --console --map --can-peripherals

Set ArduPilot Params

CAN_P1_DRIVER    1.0         # First driver
CAN_D1_UC_ESC_BM 15          #  ESC 1,2,3,4

Bridge CAN Interfaces

cd ardupilot
./modules/DroneCAN/pydronecan/tools/dronecan_bridge.py mcast:0 can0

Set RC Control (Optional)

Control Your SITL ArduPlane

AM32 Dronecan Wiring using any GCS or input command in Mavproxy 

#ie.
mode TAKEOFF
arm throttle