# Introduction

DroneCAN (opens new window)/Cyphal (opens new window) (old name UAVCAN) nodes are devices primary based on CAN bus used by the PX4, ArduPilot and other projects as CAN peripherals devices.

This guide constains interface description, user manual and hardware specification for each developed devices.

# PX4 compatibility

Primary our devices were tested with PX4 autopilot.

Check official PX4 documentation (opens new window) for getting the specific wire and settings instruction.

# Ardupilot compatibility

Check official Ardupilot documentation (opens new window) for the getting specific wire and settings instruction.

# Existing devices

Following devices are already well tested and are being used in real applications multiple times:

# 1. Programmer-Sniffer

Programmer sniffer is must-have device required for uploading firmwares to the nodes and monitoring CAN bus.

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# 2. PWM-mini

PWM-mini is dedicated to controlling servos and ESCs. It supports 2 channels simultaneously. It has auxilliary pins which might be used as additional channels or for getting esc feedback.

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# 3. PWM-nano

PWM-nano is dedicated to controlling servos and ESCs. It is smaller and chipier than PWM-mini because it doesn't have internal DC-DC. It supports 2 channels simultaneously.

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# 4. Airspeed

Airspeed is essential for fixed-wing UAV. It measure differential pressure that might be used for airspeed estimation.

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# 5. Rangefinder

Rangefinder is used for precision landing.

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# 6. CAN-mux

CAN-mux helps easily connect your devices and organize onboard network.

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# 7. GPS-MAG-BARO

GPS-MAG-BARO is the node that has 3 devices: GPS, magnetometer and barometer.

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# 8. UI-LEDS

UI-LEDS adds light to your UAV: use visible LEDs to indicate the current vehicle status.

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# 9. [testing stage] WiFi Sniffer

WiFi Sniffer allows wireless CAN-bus monitoring via WiFi/UDP.

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# 10. [testing stage] Internal Combustion Engine controller

Internal Combustion Engine controller is sophisticated board for controlling the internal combustion engine and starter.

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# 11. [testing stage] PMU

PMU is power management unit for complex vehicles.

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# 12. [dev stage] Charger

Charger allows to automatically charge a battery.

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# 13. [dev stage] Fuel Tank

Fuel Tank is higly recommended for VTOL based on internal combustion engine. It estimates the current level and consumption of fuel.

# 14. [dev stage] Inclinometer

Inclinometer estimates his own orientation based on IMU sensors.