Pixhawk 2.1 UAVCAN Outputs


I am trying to drive motors over UAVCAN with Zubax Orel 20 ESCs. My problem what is the best way to directly set the outputs to the CAN ESCs?

A little more background: I am trying to build my own flight control software where I plan on calculating the motor output values based on vehicle rate setpoints and instrument readings. I was able to create a passthrough mixer for the MAIN pwm outputs and use it by publishing to actuator_controls_0. Since I enabled UAVCAN, I have no idea how to communicate to the UAVCAN ESCs. The ESCs already have CAN Node ID and ESC-Index set. I’m just not sure if there is a message that I should be publishing to in order to output those values or if I need to be sending commands or something else I haven’t thought of.

Any help in this would be greatly appreciated.

  • Jon