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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 and higher datarates required for more advanced sensors
avoid running out of data ports on the pixhawk flight controller (i.e. UART ports)
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! Listed in order of criticality.
For Big Quad 2025
For Fixed Wing 2025
Daniel Puratich EE only
Daniel Puratich Meghan Dang leading EE
EFS unassigned
For Future Programs
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
EFS unassigned
needs scoping
low priority, cost down only
Useful COTS Information
Useful ICs
MCP2515
TJA1051TK/3,118
COTS Specs
https://docs.px4.io/main/en/assembly/cable_wiring.html
Contains the CAN connector, pin order, twisting, and connector spec we are following
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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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