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You will also need to install Kucher software UAVCAN GUI tool which will be used to enumerate telega based ESC and to set the direction of motors. To download Kucher UAVCAN GUI tool please refer to the relevant documentation for details.

Required parts

The tutorial is set up for quadcopter but it is applicable for all types of frames, the following parts will be needed:

Please contact your supplier for ordering information. Alternatively, customers can choose to manufacture the needed cables/plugs on their own in order to suit some custom needs, in which case they should refer to the relevant documentation for details.

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UAVCAN devices are generally Plug'n'Play you will still need to enumerate (assign index/number) each of the ESC used in your vehicle and set their direction so that they can be identified/controlled by PX4. To enumerate the ESC :Connect you can either use the UAVCAN GUI tool via UAVCAN bus or Kucher via USB link (for myxa only).

UAVCAN

Connect all ESCs into a chain with Babel.

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Open the UAVCAN GUI tool, apply local node ID and then launch the dynamic node ID allocation server.

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All connected ESCs will appear as nodes. Double click on the node to open its properties window.

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Click on button Fetch All to fetch all parameters of the node.

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Enumerate ESC and set the direction of the motor by writing into the following configuration parameters.

 uavcan.esc_index

 uavcan.esc_revrs

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Repeat this process for all other ESCs.

USB

To download and install Kucher please refer to the relevant documentation for details.

Connect Myxa with a computer using a micro USB cable.

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Enumerate ESC and set the direction of the motor by writing into the following configuration parameters.

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