REV 1.1.1 (Last Modified May 25, 2023)
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R E V 1 . 1 . 1
Wiring Schematic
An example CAN bus network configuration is shown below. Each CAN bus network must contain a master, one
or more ESCs that connect to the master, and a 120 ohm terminating resistor. The 120 ohm terminating resistor
is required on all CAN bus networks. The Pixhawk has KDECAN abilities implemented however, the Pixhawk is
used only as a reference. Flight controllers that are open source or internally developed can incorporate the
KDECAN protocol.
Figure 3: Example CAN bus network.
Note: 3.3V CAN transceivers are fully interoperable with 5V CAN transceivers.
ID Assignment
By default, each ESC has an ID of 0x01 and the master (flight controller or CAN bus analyzer) has an ID of 0x00.
This ESC ID is a unique ID used for identifying different ESCs on the CAN BUS network. Each ESC ID must be
assigned before it can operate on the network. This can be accomplished through two methods. The first
method manually assigns each ESC’s ID through
the KDE Device Manager. The second method sends an
“Enumeration” message followed by an “Update Node Address” message
.
