How to Run Standard (Non-UAVCAN) CAN on PX4?

PX4 Autopilot
1

Hi everyone,

I’m working on a project that requires using standard CAN (not UAVCAN) communication on a PX4-based system. My goal is to interface with third-party CAN peripherals (e.g., radars, rangefinders) that do not use UAVCAN or DroneCAN protocols—just raw CAN frames.

From what I’ve researched, PX4 and NuttX are heavily focused on UAVCAN for CAN communication, but I’m wondering:

  1. Is there a supported way to receive and send raw CAN messages using PX4?
  2. Can I directly use NuttX CAN drivers (e.g., can.c, can_ioctl()) within a PX4 module or custom driver to read/write CAN frames?
  3. Has anyone successfully created a custom PX4 driver using classic CAN?
  4. Any tips on using the CAN1/CAN2 interfaces (e.g., on Pixhawk, CubeOrange, etc.) in non-UAVCAN mode?

I just need to parse and respond to messages over CAN (e.g., polling data from a TFmini or MR72 radar sensor). Any guidance or examples would be greatly appreciated.

2

Have a look at this thread: NuttX CAN drivers on STM32H7x3 - #2 by JulianOes

3

This topic was automatically closed 90 days after the last reply. New replies are no longer allowed.