• Specification
    • 1. Introduction
    • 2. Basic concepts
    • 3. Data structure description language
    • 4.1 CAN bus transport layer
    • 4.2 UDP bus transport layer
    • 4.3 MAVLink bus transport layer
    • 4.4 CANFD bus transport layer
    • 5. Application level conventions
    • 6. Application level functions
    • 7. List of standard data types
    • 8. Hardware design recommendations
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Specification /  4.3 MAVLink bus transport layer

MAVLink bus transport layer

This chapter defines the MAVLink bus based transport layer of DroneCAN.

DroneCAN on MAVLink

DroneCAN packets can be carried over MAVLink2 using either CAN_FRAME or CAN_FRAME or CANFD_FRAME messages. Data in CAN_FRAME messages is identical to the data in a bxCAN transport packet. Data in a CANFD_FRAME message is identical to the data in a CANFD transport packet.

URI

When referring to a DroneCAN on MAVLink connection the prefix “mavcan:” should be used in URIs followed by a standard MAVLink URI.


Specification

  • 1. Introduction
  • 2. Basic concepts
  • 3. Data structure description language
  • 4.1 CAN bus transport layer
  • 4.2 UDP bus transport layer
  • 4.3 MAVLink bus transport layer
  • 4.4 CANFD bus transport layer
  • 5. Application level conventions
  • 6. Application level functions
  • 7. List of standard data types
  • 8. Hardware design recommendations
  • dsdl
    • ardupilot
    • uavcan

License

This work is licensed under a Creative Commons Attribution 4.0 International License.
Much of the content of this site is based upon prior work by Pavel Kirienko and the UAVCAN Development Team.
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