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