ArduCopter with AM32 DroneCAN

Video Tutorial

• ArduCoper with AM32 Dronecan Setup

Hardware List

• Vimdrones ESC NANO
• Vimdrones CAN Splitter(5 ports)
• Holybro X500 kit with Pixhawk 6X
• Tattu 4S 8000mah 25C Battery
• Spektrum Dxe and receiver

Software List

• Dronecan GUI tool
• GCS: Mavproxy | Qgroundcontrol | Mission Planner

ArduPilot Params

CAN_P1_DRIVER 1 #First driver
CAN_D1_PROTOCO 1 #DroneCAN
CAN_D1_PC_ESC_BM 15 #ESC 1,2,3,4 change to your case
BRD_SAFETY_DEFLT 0 # 0 to disable, 1 to enable, better enable with propeller installed

AM32 Params

Essential Parameters

• MOTOR_POLES - Poles in Motor
• DIR_REVERSED - Motor Direction
• BI_DIRECTIONAL - Enable Bi Direction
• REQUIRE_ARMING - Condition if need uavcan.equipment.safety.ArmingStatus
• BRAKE_ON_STOP - Brake on Stop
• STUCK_ROTOR_PROTECTION - Stuck motor protection
• BEEP_VOLUME - StartUp Tune Volume
• STARTUP_TUNE - StartUp Tune Melody, RTTTL format

Recommended Default Parameters

• VARIABLE_PWM - Enable Dynamic Frequency
• PWM_FREQUENCY - Gate Drive Frequency Range
• LOW_VOLTAGE_CUTOFF - Minimum Voltage to Power Off, default disabled
• CELL_VOLTAGE_THRESHOLD - Min Cell Voltage to Power Off
• TEMPERATURE_LIMIT - Temperature limit for operation
• AUTO_ADVANCE - Automatic advance timing
• ADVANCE_LEVEL - Level of advance timing
• COMP_PWM - Complementary PWM

DroneCAN Protocol

• uavcan.equipment.esc.RawCommand
• uavcan.equipment.safety.ArmingStatus
• uavcan.equipment.esc.Status

ESC Sensor Values (ArduPilot Dataflash Log)

• ESC[x].RPM
• ESC[x].Curr
• ESC[x].Volt
• ESC[x].Temp