# Introduction

Cyphal (opens new window)/DroneCAN (opens new window) (old name UAVCAN) nodes are devices primarily based on CAN bus, used by the PX4, ArduPilot and other projects as CAN peripheral devices.

This guide contains interface description, user manual and hardware specification for each developed device.

It is recommended that all users to read the Getting Started page.

# Autopilot Compatibility

  1. PX4. Refer to the official PX4 documentation (opens new window) for getting the specific wiring and setup instructions.

  2. Ardupilot. Check the official Ardupilot documentation (opens new window) for the specific wiring and setup instructions.

# Existing devices

The following devices are already well tested and are being used in real applications multiple times:

# 1. Programmer-Sniffer

Programmer sniffer is must-have device required for uploading firmware to the nodes and monitoring the CAN bus.


# 2. PWM-micro

PWM-micro is the smallest CAN-PWM converter designed to control 1 - 2 ESC or servo with an external power supply.


# 3. PWM-mini

PWM-mini is the CAN-PWM converter designed to control 1-4 ESCs or servos. As the node has a built-in DC-DC, a servo can be powered through it.


# 4. Airspeed

Airspeed is essential for fixed-wing UAVs. It measures differential pressure which can be used to estimate airspeed.



GPS-MAG-BARO is the node that has 3 devices: GPS, magnetometer and barometer.


# 6. Rangefinder

Rangefinder is used for precision landing.


# 7. UI-LEDS

UI-LEDS adds light to your UAV: use visible LEDs to indicate the current vehicle's status.


# 8. CAN-mux

CAN-mux helps you easily connect your devices and organise your onboard network.

CAN-mux 1 CAN-mux 2 Power connector
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# 9. [testing stage] WiFi Sniffer

WiFi Sniffer allows wireless CAN-bus monitoring via WiFi/UDP.


# 10. [testing stage] Internal Combustion Engine controller

Internal Combustion Engine controller is a sophisticated board for controlling the internal combustion engine and starter.


# 11. [testing stage] PMU

PMU is a power management unit for complex vehicles.


# 12. [dev stage] Charger

Charger allows you to charge a battery automatically.


# 13. [dev stage] Fuel Tank

Fuel Tank is highly recommended for internal combustion engine based VTOL. It estimates the current fuel level and consumption.

# 14. [dev stage] Inclinometer

Inclinometer estimates its own orientation using IMU sensors.

# 15. [testing stage] BMS

BMS is battery management system.


# 16. [dev stage] RPI Hat

RPI Hat is Raspberry PI SPI to CAN converter.


# 17. Autopilot

FMUv4 based Autopilot.


# 18. CAN wires

CAN wires: 4 wire for UCANPHY Micro (JST-GH 4) and 6 wire for (Molex 502585-0670 (opens new window)).