KDE Direct DroneCAN QuickStart Guide

Overview

This document provides essential steps and component information for enabling DroneCAN with KDE Direct UVC series ESCs and a Pixhawk 2.1 (CUBE) flight controller. It details configuration procedures for the flight controller, hardware, and software.

For more information on DroneCAN, visit dronecan.org.

Quick Start and Requirements

Hardware Required:

• Pixhawk CUBE
• KDE UVC series ESCs
• KDECAN-KIT JST-GHR Wire Kit (for ESC-to-ESC connections)
• KDECAN-PHC JST-GHR Wire (for flight controller connection)

Software Required:

• ESC firmware (D4600341.dfu or later)
• KDE Device Manager (KDE_Direct_Device_Manager_V138.4.exe or later)
• Mission Planner

Quick Setup Guide

1. Wire ESCs to establish the CAN bus network.
2. Update all ESCs with the latest DroneCAN-compatible firmware and assign unique Node IDs and Motor IDs using the KDE Device Manager.
3. Update the Pixhawk with the latest firmware and perform initial configuration via Mission Planner.
4. Configure Pixhawk parameters: set CAN_P1_DRIVER to 1, reboot, set CAN_D1_UC_ESC_BM, write parameters, and restart the Pixhawk.
5. Connect in Mission Planner to view telemetry data in the "Data -> Status" tab.

Key Configuration Steps

CAN Bus Wiring:

Connect ESCs using the provided KDECAN-KIT wires. Ensure proper connection of CAN_L and CAN_H. A 120-ohm terminating resistor should be added to the last ESC on the bus. Note: It is recommended to cut the 3.3V wire on the ESC side to prevent unintended power to the Pixhawk.

ESC Configuration (KDE Device Manager):

• Set Throttle Calibration Mode to RANGE (min 1000, max 2000).
• Assign a unique CAN BUS NODE ID for each ESC.
• Set CAN BUS CONTROL to DRONECAN.
• Assign DRONECAN MOTOR ID corresponding to the motor position (e.g., 1-4 for a QuadCopter).
• Set DRONECAN POLES based on the motor's magnetic poles.

Pixhawk Configuration (Mission Planner):

• Set CAN_P1_DRIVER to 1.
• Set CAN_D1_PROTOCOL to 1 (DroneCAN).
• Configure CAN_D1_UC_ESC_BM (ESC bitmask) to match the number of ESCs and their assigned channels/motors.

Viewing Live Telemetry

After successful setup, the Pixhawk will receive DroneCAN messages. Telemetry data, including voltage, current, RPM, and temperature for each ESC, can be viewed in Mission Planner under "Flight Data" -> "Status". The data fields are typically named escX_volt, escX_curr, etc., where X is the DRONECAN MOTOR ID. Graphical representation is available by enabling the "Tuning" option.