Matek CAN-L4-BM with PX4

Hi all!

I have a problem - I can not connect the sensor by uavcan from Matek.
The flight controller sees the sensor, but writes the wrong voltage.

For example - when my voltage is 0 - qgc tells me that 40 volts. When I give voltage to the sensor - it says 23-35 volts.

Hardware:
Cuav V6X
Matek CAN-L4-BM

Firmaware:
V1.13.3

image

uavcan status:

Pool allocator status:
Capacity hard/soft: 500/250 blocks
Reserved: 20 blocks
Allocated: 15 blocks

UAVCAN node status:
Internal failures: 0
Transfer errors: 0
RX transfers: 326
TX transfers: 414

CAN1 status:
HW errors: 474
IO errors: 474
RX frames: 0
TX frames: 471
CAN2 status:
HW errors: 0
IO errors: 0
RX frames: 1734
TX frames: 471

ESC outputs:
INFO [mixer_module] Param prefix: UAVCAN_EC
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Channel Configuration:
Channel 0: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 1: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 2: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 3: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 4: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 5: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 6: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Channel 7: func: 0, value: 0, failsafe: 65535, disarmed: 65535, min: 1, max: 8191
Servo outputs:
INFO [mixer_module] Param prefix: UAVCAN_SV
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Channel Configuration:
Channel 0: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 1: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 2: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 3: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 4: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 5: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 6: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000
Channel 7: func: 0, value: 0, failsafe: 500, disarmed: 500, min: 0, max: 1000

Sensor ‘battery’:
name: uavcan_battery
channel 0: node id 124 → instance 0

Sensor ‘gnss’:
name: uavcan_gnss

Sensor ‘mag’:
name: uavcan_mag

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

uavcan: cycle time: 9349 events, 290565us elapsed, 31.08us avg, min 9us max 16589us 292.485us rms
uavcan: cycle interval: 9349 events, 2504.73us avg, min 18us max 16603us 1064.805us rms
nsh>

uavcan param list:

name: FORMAT_VERSION 2
name: CAN_NODE 0
name: CAN_BAUDRATE 1000000
name: FLASH_BOOTLOADER 0
name: DEBUG 0
name: BRD_SERIAL_NUM 0
name: BATT_MONITOR 26
name: BATT_SERIAL_NUM -1