CAN_D2_UC_ parameters

23 parameters in the CAN_D2_UC_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

CAN_D2_UC_ESC_BM

Output channels to be transmitted as ESC over DroneCAN

Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN

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_UC_ESC_OF

ESC Output channels offset

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo outputs 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth

Range	0 to 18
User level	Advanced

CAN_D2_UC_ESC_RV

Bitmask for output channels for reversible ESCs over DroneCAN.

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

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_UC_NODE

Own node ID

DroneCAN node ID used by the driver itself on this network

Range	1 to 125
User level	Advanced

CAN_D2_UC_NTF_RT

Notify State rate

Maximum transmit rate for Notify State Message

Units	Hz
Range	1 to 200
User level	Advanced

CAN_D2_UC_OPTION

DroneCAN options

Option flags

User level

Advanced

Bitmask

Value	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts
2	EnableCanfd
3	IgnoreDNANodeUnhealthy
4	SendServoAsPWM
5	SendGNSS
6	UseHimarkServo
7	HobbyWingESC
8	EnableStats
9	EnableFlexDebug
10	SecondaryAllowExtendedFrames

CAN_D2_UC_POOL

CAN pool size

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range	1024 to 16384
User level	Advanced

CAN_D2_UC_RLY_RT

DroneCAN relay output rate

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

Units	Hz
Range	0 to 200
User level	Advanced

CAN_D2_UC_S1_BD

DroneCAN Serial default baud rate

Serial baud rate on remote CAN node

Range	1 to 20000000
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D2_UC_S1_IDX

DroneCAN Serial1 index

Serial port number on remote CAN node

Range	-1 to 100
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
-1	Disabled
0	Serial0
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5
6	Serial6

CAN_D2_UC_S1_NOD

Serial CAN remote node number

CAN remote node number for serial port

Range	0 to 127
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

CAN_D2_UC_S1_PRO

Serial protocol of DroneCAN serial port

Serial protocol of DroneCAN serial port

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D2_UC_S2_BD

DroneCAN Serial default baud rate

Serial baud rate on remote CAN node

Range	1 to 20000000
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D2_UC_S2_IDX

Serial port number on remote CAN node

Serial port number on remote CAN node

Range	-1 to 100
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
-1	Disabled
0	Serial0
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5
6	Serial6

CAN_D2_UC_S2_NOD

Serial CAN remote node number

CAN remote node number for serial port

Range	0 to 127
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

CAN_D2_UC_S2_PRO

Serial protocol of DroneCAN serial port

Serial protocol of DroneCAN serial port

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D2_UC_S3_BD

Serial baud rate on remote CAN node

Serial baud rate on remote CAN node

Range	1 to 20000000
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D2_UC_S3_IDX

Serial port number on remote CAN node

Serial port number on remote CAN node

Range	-1 to 100
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
-1	Disabled
0	Serial0
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5
6	Serial6

CAN_D2_UC_S3_NOD

Serial CAN remote node number

CAN node number for serial port

Range	0 to 127
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

CAN_D2_UC_S3_PRO

Serial protocol of DroneCAN serial port

Serial protocol of DroneCAN serial port

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D2_UC_SER_EN

DroneCAN Serial enable

Enable DroneCAN virtual serial ports

Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

Values

Value	Meaning
0	Disabled
1	Enabled

CAN_D2_UC_SRV_BM

Output channels to be transmitted as servo over DroneCAN

Bitmask with one set for channel to be transmitted as a servo command over DroneCAN

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
16	Servo 17
17	Servo 18
18	Servo 19
19	Servo 20
20	Servo 21
21	Servo 22
22	Servo 23
23	Servo 24
24	Servo 25
25	Servo 26
26	Servo 27
27	Servo 28
28	Servo 29
29	Servo 30
30	Servo 31
31	Servo 32

CAN_D2_UC_SRV_RT

Servo output rate

Maximum transmit rate for servo outputs

Units	Hz
Range	1 to 200
User level	Advanced