Custom CAN messages

Hi everyone,

I would like to know where I shall start to read and write customised CAN messages.

For this project, I would like to command the vehicle trajectory from a CAN bus. The MAVLink offboard mode could be an interesting solution.

  1. Is there an easy way to transmit MAVLink messages over the CAN port?
  2. If not, is there an example in the PX4 codebase to configure and read/write custom messages over the CAN port?

I’m using the Pixhawk Cube and PX4 v1.10

@PavelKirienko any advice?