• 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
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        • 8. Custom data types
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        • 10. Dynamic node ID allocation
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        • 12. Multithreading
        • 13. CAN acceptance filters
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Specification /  dsdl /  uavcan

UAVCAN namespace

For details, please refer to the DroneCAN specification.

Standard ID grouping

The grouping documented here is essentially a mere guideline on what data type ID should be assigned to newly added data types. The unallocated segments of the groups can be safely changed in the future, as such a change won’t affect backward compatibility in any way.

Messages

Currently used ranges are the following:

  • [0, 16384)
ID range Types
[0, 4) protocol.dynamic_node_id.*
[4, 400) protocol.*
[390, 400) protocol.dynamic_node_id.server.*
[1000, 2000) equipment.*
[2000, 2010) navigation.*
[2010, 2012) tunnel.*
[16370, 16384) protocol.debug.*

Services

Currently used ranges are the following:

  • [0, 64)
ID range/set Types
[0, 50) protocol.*
[10, 20) protocol.param.*
[30, 40) protocol.dynamic_node_id.*
[40, 50) protocol.file.*
[50, 60) equipment.*
63 tunnel.*

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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