Interfacing RDS01 CAN with Cube Orange Flight Controller Using Ardupilot Flight Stack

 RDS01-CAN can be interfaced with Cube Orange CAN port or any flight controller which has Ardupilot firmware flashed and having CAN interface.

We will configure multiple RDS01 CAN for Obstacle Avoidance and Altitude Hold.

Support for CAN protocol of RDS01 has been added to Ardupilot firmwares for the purpose of Altitude Hold (however it can also be used for obstacle avoidance), starting from ArduCopter V4.0.3 Dev version.

Radar is used on drones in those application areas where LiDAR can’t be used.


note: This document is applicable to Cube Orange and Cube Black flight controllers.

The interfaces available that can be used to connect RDS01-CAN are the same on both flight controllers.

There are two CAN ports which can be used to interface devices having support for CAN communication.

note : controller used was Cube Orange flashed with ArduCopter V4.0.3 Dev version.


1. RDS01 CAN Related Information:

It should be noted that RDS01 has two different hardware versions for CAN and UART. So, when buying Radar, please pay attention to buy Radar with CAN interface.

 The baud-rate of Radar is 500kbps and its ID is 0x0000073C (in DEC: 1852, we need to enter decimal value in Mission Planner) with frame type is extended version not standard.

On Radar side we have two types of CAN IDs:

- Send ID: it becomes Receive ID on CAN bus side (we need to set this ID in Mission Planner.)

- Receive ID: it becomes Send ID on CAN bus side


In case you want to change the ID, please follow this example. Let say we want to change the ID to 0x075C (DEC: 1884). So, the command will be; [0x01 0x00 0x00 0x07 0x5C]

.........................................................................................................

The ID at which Radar receives command is; CAN ID：0x71F

NOTE: command with and without checksum is acceptable. If you want to add checksum, you could add sixth byte at the end of command. Checksum is the sum of all five bytes. For understanding, please refer to the following image.

    2nd page ke baad me kl hoga.................................

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