CAN_D2_PC_ parameters

6 parameters in the CAN_D2_PC_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

CAN_D2_PC_ECU_ID

ECU Node ID

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range	0 to 255
User level	Advanced

CAN_D2_PC_ECU_RT

ECU command output rate

Output rate of ECU command messages

Units	Hz
Range	1 to 500
User level	Advanced

CAN_D2_PC_ESC_BM

ESC channels

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

User level

Advanced

Bitmask

Value	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D2_PC_ESC_RT

ESC output rate

Output rate of ESC command messages

Units	Hz
Range	1 to 500
User level	Advanced

CAN_D2_PC_SRV_BM

Servo channels

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

User level

Advanced

Bitmask

Value	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15
15	Servo 16

CAN_D2_PC_SRV_RT

Servo command output rate

Output rate of servo command messages

Units	Hz
Range	1 to 500
User level	Advanced