DroneCAN ESCs

PX4 supports DroneCAN compliant ESCs. For more information, see the following articles for specific hardware/firmware:

• PX4 Sapog ESC Firmware
  • Holybro Kotleta 20
• Zubax Telega
• Vertiq (larger modules)
• VESC Project
• RaccoonLab Cyphal and DroneCAN PWM nodes

Hardware Configuration

General DroneCAN hardware configuration is covered in DroneCAN > Hardware Setup.

DroneCAN ESCs should be on their own dedicated CAN interface(s) because ESC messages can saturate the bus and starve other nodes of bandwidth.

PX4 Configuration

DroneCAN peripherals are configured by following the procedure outlined in DroneCAN.

In addition to the general setup, such as setting UAVCAN_ENABLE to 3:

• Select the specific CAN interface(s) used for ESC data output using the UAVCAN_ESC_IFACE parameter (all that all interfaces are selected by default).
• Configure the motor order and servo outputs.