# Current Sensor Cyphal/DroneCAN Interface
# 2. Parameters
The node has the following interface:
Cyphal Publishers:
| № | Data type and topic name | Description |
|---|---|---|
| 1 | zubax.telega.CompactFeedback.1.0 compact_feedback |
The node has the following registers:
| № | Register name | Description |
|---|---|---|
| 1 | uavcan.node.id | Defines a node-ID. Allowed values [0,127]. |
| 2 | system.name | Defines custom node name. If empty, the node will use the default name. |
| 3 | system.protocol | Auto, Cyphal/CAN or DroneCAN |
| 4 | dronecan.pub.device.temperature.id | uavcan.equipment.device.Temperature device_id |
| 5 | dronecan.pub.power.circuitstatus.id | uavcan.equipment.power.CircuitStatus circuit_id |
| 6 | dronecan.pub.power.batteryinfo.id | uavcan.equipment.power.BatteryInfo battery_id |
| 7 | dronecan.pub.esc.status.id | uavcan.equipment.esc.Status esc_index |
# 3. Cyphal usage
# 4. DroneCAN usage
# 6. Changelog
| Version | Description |
|---|---|
| v0.5.2_b1c1d00f-alpha2 Aug 25, 2024 | Both Cyphal and Dronecan Known bugs: - Sometimes CAN doesn't work - Voltage measurement is bad due to the hardware issue |
| v0.3.7_63109647-alpha1 Apr 24, 2024 | Cyphal only Known bugs: - Sometimes CAN doesn't work - Voltage measurement is bad due to the hardware issue |