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Connect all of the on-board CAN devices into a chain and make sure the bus is terminated at the end nodes. The order in which the ESC are chained does not matter. More information about proper bus connections can be gathered from the UAVCAN Cyphal/CAN device interconnection page.

Configuring Sapog

PX4 supports the automatic ESC enumeration feature, so no manual configuration is needed. You may need to perform some tuning pertaining to the motor control characteristics though, but that task is out of the scope of this tutorial, and you may do that later.


The following video demonstrates the whole process

See also

PX4 documentation portal: and