# 4. DroneCAN Interface
This page is about DroneCAN related details such as interface, supported features, parameters, configuration and usage examples and software versions. For general information, refer to the 1. General page., for hardware related details including connection example scheme please refer here.
# 4.1. Interface
This node interacts with following messages:
| № | type | message |
|---|---|---|
| 1 | publisher | uavcan.equipment.range_sensor.Measurement (opens new window) |
| 2 | publisher | uavcan.equipment.power.CircuitStatus (opens new window) |
Besides required and highly recommended functions such as NodeStatus and GetNodeInfo this node also supports the following application-level functions:
| № | type | message |
|---|---|---|
| 1 | RPC-service | uavcan.protocol.param (opens new window) |
| 2 | RPC-service | uavcan.protocol.RestartNode (opens new window) |
| 3 | RPC-service | uavcan.protocol.GetTransportStats (opens new window) |
# 4.2. Parameters
The parameters might be visualized using gui tool.
The list of parameters is shown in the table below:
| Idx | Name | Type | Default | Min | Max | Description |
|---|---|---|---|---|---|---|
| 0 | ID | integer | 73 | 0 | 100 | Node identifier |
| 1 | log_level | integer | 3 | 0 | 4 | Minimal log level message which might be sended by this device. 0 - debug, 1 - info, 2 - warn, 3 - error, 4 - disable |
| 2 | rng_measurement_period | integer | 100 | 10 | 2000 | Period of measurement and publishing |
| 3 | rng_type | integer | 0 | 0 | 2 | Defines which sensor to use. See the table below. |
| 4 | rng_id | integer | 0 | 0 | 255 | Id of the sensor in the message. |
| 5 | enable_5v_check | integer | 1 | 0 | 1 | Set ERROR status if 5V voltage is out of range 4.5 - 5.5 V |
| 6 | enable_vin_check | integer | 0 | 0 | 1 | Set ERROR status if Vin voltage is less than 4.5 V |
| 7 | name | integer | 0 | 0 | 100 | Custom name of the node. Might be implemented by request. |
Using parameters you may specify type of sensor (now it supports only LW20/C)
| rng_type value | corresponded sensor type |
|---|---|
| 0 | LW20/C (i2c) |
| 1 | TF-Luna (uart) |
| 2 | Garmin lite v3 (i2c) |
| 3 | vl53l0x (i2c) |
# 4.3. Usage example on a table
It is recommended to debug it with gui_tool (opens new window). You can check the message sent by this node.
Example of the message shown below.
