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Encompasses all the CAN boards we are making and buying for use in our systems and to cover how we intend on integrating them. To cover software for Ardupilot, hardware (terminations and topology), and placement (mechanical but affects topology).
Why
Using CAN based architecture allows us to:
avoid signal integrity problems with longer signal runs as our aircraft get larger
avoid running out of data ports on the pixhawk flight controller
allow for shorter/fewer cables overall with a busable protocol to save weight
allow for fewer connectors to attach removable portions of an airframe (i.e. wings or arms)
Where
This is currently being applied mostly to Big Quad 2025 & Fixed Wing 2025 while Small Quad 2025 is remaining mostly on normal sensors/peripherals to avoid excess complexity on a small airframe.
Custom Projects
There may be more projects here, feel free to link them!
Daniel Puratich EE only
Daniel Puratich Meghan Dang leading EE
EFS unassigned
Camron Sabahi-Pourkashani leading EFS
Jerry Tian leading EE
Michael Botros leading EE
EFS unasdigned
Stanley Tang leading EFS
Daniel Puratich Meghan Dang leading EE
See https://uwarg-docs.atlassian.net/wiki/spaces/EL/pages/2524119043/ESC+CAN+Adapter#Layout-Sample for an example of a system architecture.
EFS unassigned
needs scoping
low priority, cost down only
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Pre-crimped is def the way to go, crimping these tiny things is so difficult.
Even so be careful to put the crimps in the correct slots.
See this conversation for lots of time wasted. Another blunder here.
The guide on https://docs.px4.io/main/en/assembly/cable_wiring.html is very comprehensive.
Knowledge Base Links
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