ArduPilot DroneCAN Serial Tunnel Setup
Link Diagram
ArduPilot MAVLink2 <-> DroneCAN bus <-> Node 125(AP_Periph) <-> Serial1 <-> Serial device
Key Parameters
CAN_D1_UC_SER_EN 1 # Enable DroneCAN serial tunnel
CAN_D1_UC_S1_IDX 1 # Serial port index on the remote node
CAN_D1_UC_S1_NOD 125 # Remote DroneCAN node ID
CAN_D1_UC_S1_PRO 2 # MAVLink2
CAN_D1_UC_S1_BD 57600 # Baud rate
S1_IDX selects the serial port on the AP_Periph node. Change the node ID, serial index, and baud rate as needed, then reboot the flight controller.