# fmu-v6xRT - UAVCAN doesn't start automatically

**URL:** <https://discuss.px4.io/t/fmu-v6xrt-uavcan-doesnt-start-automatically/45098>\
**Category:** PX4 Autopilot\
**Created:** [April 16, 2025, 5:11pm UTC](https://discuss.px4.io/t/fmu-v6xrt-uavcan-doesnt-start-automatically/45098 "2025-04-16T17:11:18Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![SCK\_Zone](https://discuss.px4.io/user_avatar/discuss.px4.io/sck_zone/32/17266_2.png) [@SCK\_Zone](https://discuss.px4.io/u/SCK_Zone)\
**Post date:** [April 16, 2025, 5:11pm UTC](https://discuss.px4.io/t/fmu-v6xrt-uavcan-doesnt-start-automatically/45098/1 "2025-04-16T17:11:18Z")

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Hi All,  
I got FMU-V6XRT version of FC from NXP, I am trying to configure CAN GPS - CAN1 port. After setting UAVCAN\_ENABLE =1, UAVCAN doesnt start. I have to manually start. Below is the log. Am I missing something ?

NuttShell (NSH) NuttX-11.0.0  
nsh\> param show UAVCAN\_ENABLE  
Symbols: x = used, + = saved, \* = unsaved  
x UAVCAN\_ENABLE [914,1896] : 2

925/2020 parameters used.  
nsh\> listener sensor\_gps  
never published  
nsh\> uavcan status  
ERROR [uavcan] application not running  
nsh\> uavcan start  
INFO [uavcan] Node ID 1, bitrate 1000000  
nsh\> uavcan status  
Pool allocator status:  
Capacity hard/soft: 500/250 blocks  
Reserved: 41 blocks  
Allocated: 19 blocks

UAVCAN node status:  
Internal failures: 0  
Transfer errors: 0  
RX transfers: 1222  
TX transfers: 297

CAN1 status:  
HW errors: 0  
IO errors: 0  
RX frames: 3536  
TX frames: 476  
CAN2 status:  
HW errors: 0  
IO errors: 270  
RX frames: 0  
TX frames: 205

Sensor ‘gnss’:  
name: uavcan\_gnss  
channel 0: node id 125 → instance 0

Sensor ‘gnss\_relative’:  
name: uavcan\_gnss\_relative

Sensor ‘mag’:  
name: uavcan\_mag  
channel 0: node id 125 → instance 0

Online nodes (Node ID, Health, Mode):  
125 OK OPERAT

uavcan: cycle time: 5699 events, 388686us elapsed, 68.20us avg, min 14us max 27888us 451.510us rms  
uavcan: cycle interval: 5700 events, 3006.87us avg, min 881us max 27892us 378.391us rms

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**Author:** ![system](https://discuss.px4.io/uploads/default/original/3X/7/3/73ce918bdcd64854de904f0c8d9ab70ca9723f2a.png) [@system](https://discuss.px4.io/u/system)\
**Post date:** [July 15, 2025, 5:12pm UTC](https://discuss.px4.io/t/fmu-v6xrt-uavcan-doesnt-start-automatically/45098/2 "2025-07-15T17:12:16Z")

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