These are simple examples of DroneCAN nodes using libcanard and the dronecan_dsdlc DSDL compiler
For more a more complete firmware framework please see the ArduPilot AP_Periph firmware framework
To build each of the examples cd to the subdirectory of the example and type 'make'
You may need to install the following before building:
sudo pip install empy==3.3.4 pydronecan pexpect
The examples can use either socketcan or multicast UDP as the transport on Linux.
To run with multicast UDP you can start like this:
./esc_node mcast:0
If you want to use socketcan then you need to start socketcan on Linux. See the setup_socketcan.sh script in this directory for starting socketcan
After socketcan is setup you can run an example like this:
./esc_node vcan0
Then connect to vcan0 with the DroneCAN GUI Tool.
After starting the GUI tool you need to assign a node ID to the GUI tool itself by ticking the local node ID selection
For the esc_node and servo_node you will need a dynamic node allocation server, which you can start within the DroneCAN GUI tool using the rocket icon in the bottom right corner
This will result in a CAN node ID being allocated and the node showing up on the bus.
Your new CAN node will now show up in the GUI tool.
