Set the following parameters in the Mission planner’s full parameter list and restart after writing:
Set the following parameters in the QGroundControl parameter list and then restart:
UAVCAN_ENABLE: set to: Sensors Automatic Config
Note: PX4 firmware supports UAVCAN power detection module in 1.10 or higher.
CAN PMU can add new features or improve performance by upgrading firmware. The following describes how to upgrade CAN pmu firmware.
ArduPilot AC4.0/AP4.0 or above version of the flight control firmware, support UAVCAN device firmware upgrade and debugging through the flight control (PX4 firmware is not supported), the following tutorial requires that the flight control firmware must be the above firmware version.
Before upgrading the firmware you need to set the flight control parameters to Enable CAN PMU; then set the following parameters to enable CAN Slcan:
CAN_SLCAN_CPORTset to 1.
Serial7_protocolset to 22.
AP/AC4.0 and above firmware, there will be two USB serial ports, one is the slcan port and the other is the MAVLINK port(if not, please reinstall your USB driver).
for Pixhack series/FMUv2/FMU V3/FMU V4 Flight control
CAN_SLCAN_CPORTset to 1
CAN_SLCAN_TIMEOUTset to 130000
CAN_SLCAN_SERNUMset to 0
STM32F4XX does not support dual virtual USB ports, so FMU v5 and below (not included) flight control can only be used for SLCAN after MAVlink transmission is closed; mavlink output is restored after restarting the flight control.
method one：Firmware upgrade using Mission planner Firmware download
method two：Upgrade with UAVCAN GUI TOOL software UAVCAN GUI TOOL download
The mode/heakth/uptime entry becomes “SOftware_update”
CUAV CAN PMU Manual(in PDF)
CAN PMU * 1
X7 series power cable * 1
V5 Series Power Cable * 1