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DroneCAN is the first CAN protocol utilized by the ArduPilot and PX4 tasks for communication with CAN peripherals. It’s an open protocol with open communication, specification and a number of open implementations.
Relationship with UAVCAN
DroneCAN was created to proceed the event of the broadly used UAVCAN v0.9 protocol. This protocol has confirmed itself as strong and feature-rich and has been broadly deployed within the industrial drone trade and enjoys broad assist amongst trade companions. The proposed introduction of the UAVCAN v1 protocol concerned adjustments to UAVCAN that elevated complexity and didn’t supply a clean migration path for current deployments. After prolonged discussions throughout the UAVCAN consortium it was determined that the most effective resolution was to proceed growth of UAVCAN v0.9 below the identify DroneCAN.
Key Options
The primary model of DroneCAN, often called DroneCAN v1, is equivalent to the prevailing UAVCAN v0.9 protocol. Which means that the massive variety of current UAVCAN v0.9 gadgets used all through the drone trade are already DroneCAN v1 compliant. Options inherited from UAVCAN v0.9 embody:
- detailed protocol specification
- DSDL message description language for message description
- DNA (dynamic node allocation) for task of CAN node IDs
- a number of open DSDL compilers that produce C and C++ bindings
- wealthy python implementation
- function wealthy graphical person interface for diagnostics and system configuration
- mature implementations in ArduPilot and PX4 autopilots
- AP_Periph and PX4 cannode toolkits for straightforward creation of function wealthy peripherals
Continued Evolution
DroneCAN is a frequently evolving protocol. Beginning with DroneCAN v1 the protocol will evolve so as to add new options to help within the widespread adoption of CAN all through the UAV trade. The DroneCAN mission is dedicated to making sure this evolution is completed in a way which retains compatibility with current DroneCAN gadgets. Key options deliberate for DroneCAN within the close to future:
- assist for FDCAN, permitting for larger information charges and bigger body sizes
- a node functionality message to permit the DNA server to find out each the {hardware} and software program capabilities of linked nodes, to facilitate clean transitions to up to date protocol variations
- assist for extending messages definitions whereas retaining compatibility with current implementations
- a complete re-work of current DSDL message buildings to enhance effectivity and suppleness
Growth
The DroneCAN mission has an energetic growth group.
Becoming a member of DroneCAN
If you need to publicly assist the DroneCAN mission then please fill within the software type
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