Hardware/Pixhawk Dev Call: May 26, 2020

May 26, 2020

Call Moderators

Agenda Items

    • Message Spec Updates
    • BMS, ESC

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Meeting Minutes


  • Lorenz Meier
  • Daniel Agar
  • Nuno Marques
  • Andrew S.
  • Cis Mierlo van
  • David Sidrane
  • Dugan Yoon
  • Jacob Crabill
  • Jinger Zeng
  • mac
  • Peter vd Perk
  • Raul Ramos
  • Ray Stits
  • Nuno Marques


About the goal of this meeting.
Working with stakeholders from the UAVCAN community, organizations, and maintainers. The standard should drive end-adopter compatibility.

Protocol level coordination

  • The fastest way to drive v1 adoption is to reserve a message space for drones
  • Our group specializes in drones
  • Put a proposal together to reserve message space
  • Work with UAVCAN maintainers to get this approved
  • Work to deliver a full implementation of the message set on PX4

New Proposals

  • BMSStatus
    • Goal: no more than 2-4 CAN2 frames (~14 - 21 bytes tops)
    • Feedback: Things to look for in messages, minimum, maximum, desired value increments in reporting
    • Feedback: Add suggestions/comments directly on the document
    • Notes: Timestamp removed in favor of the guaranteed maximum delivery time for a packet set in UAVCAN
  • ESCPowerCmd (ESCCommand*)
    • Note: Command name changed to ESCPowerCmd from ESCCommand
    • Goal: 3 bytes, default 400hz, max 1.2 Khz
    • Goal: this message is only for power
  • ESCStatus
    • Note: We need to further trim down this message
  • FOC* Messages were moved to draft status on the bottom of the document

Meeting Documents

Next Steps

  • Review spec in the current state, make sure it’s consistent
  • Sync offline with team
  • TODO: add quick catchup on UAVCAN for next meeting’s agenda

Errata and Feedback

Let me know below if I failed to capture anything the right way, and if there are any updates, or you have feedback on the call format.