# General **URL:** https://forum.opencyphal.org/c/general/11.md [Latest](https://forum.opencyphal.org/latest.md) · [Categories](https://forum.opencyphal.org/categories.md) --- ## [Brief outage expected due to maintenance](https://forum.opencyphal.org/t/brief-outage-expected-due-to-maintenance/2884)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [October 5, 2026, 7:50pm UTC](https://forum.opencyphal.org/t/brief-outage-expected-due-to-maintenance/2884 "2026-10-05T19:50:55Z")
We’re planning to migrate the forum to a different VM during the upcoming weekend, so a brief outage is expected, hopefully not longer than about 10 minutes. --- ## [Scheduled maintenance on Nunaweb](https://forum.opencyphal.org/t/scheduled-maintenance-on-nunaweb/2433)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [December 20, 2025, 12:01pm UTC](https://forum.opencyphal.org/t/scheduled-maintenance-on-nunaweb/2433 "2025-12-20T12:01:32Z")
https://nunaweb.opencyphal.org will be taken down for maintenance (server hardware upgrade) in a few hours. It expected to be up and running by EET evening. --- ## [Forum down for maintenance](https://forum.opencyphal.org/t/forum-down-for-maintenance/2387)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [May 17, 2025, 1:20pm UTC](https://forum.opencyphal.org/t/forum-down-for-maintenance/2387 "2025-05-17T13:20:33Z")
We will briefly turn off the forum today for maintenance purposes. Hang tight. --- ## [Cyphal Specification v1.0 is released](https://forum.opencyphal.org/t/cyphal-specification-v1-0-is-released/2386)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [May 16, 2025, 6:34pm UTC](https://forum.opencyphal.org/t/cyphal-specification-v1-0-is-released/2386 "2025-05-16T18:34:51Z")
Eleven years since the original RFC was posted on the drones-discuss mailing list, the Cyphal specification has officially reached stability. Today, we release v1.0: Some time ago Scott made a neat diagram positioning… --- ## [New chat: migrating from Matrix to Discourse](https://forum.opencyphal.org/t/new-chat-migrating-from-matrix-to-discourse/2385)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [May 16, 2025, 4:49pm UTC](https://forum.opencyphal.org/t/new-chat-migrating-from-matrix-to-discourse/2385 "2025-05-16T16:49:56Z")
We are migrating our chat from Matrix to this Discourse instance. Logged-in users will see the chat icon on the nav panel at the top of this page. The old Matrix room will no longer be monitored. The chat link on the m… --- ## [Dataflow programming in C++](https://forum.opencyphal.org/t/dataflow-programming-in-c/2356)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 1\ **Last updated:** [March 29, 2025, 2:19pm UTC](https://forum.opencyphal.org/t/dataflow-programming-in-c/2356 "2025-03-29T14:19:08Z")
Guys check this out: It’s a compact single-header C++ library for flow-based programming. Here’s the idea: ┌────────┐ (float) │ Summer │ (float) in\_a ◄────────┤ │◄──────── out\_sum … --- ## [Temporary email service disruption](https://forum.opencyphal.org/t/temporary-email-service-disruption/2350)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [March 16, 2025, 10:48am UTC](https://forum.opencyphal.org/t/temporary-email-service-disruption/2350 "2025-03-16T10:48:59Z")
An issue with the email server was discovered and fixed a few days ago. The forum engine was unable to send emails from approximately early to mid-March, which apparently has prevented a few users from signing up and rec… --- ## [STM32L5 Drivers for Libuavcan Integration](https://forum.opencyphal.org/t/stm32l5-drivers-for-libuavcan-integration/2225)
**Author:** [@Sai](https://forum.opencyphal.org/u/Sai)\ **Replies:** 0\ **Last updated:** [November 11, 2024, 4:44pm UTC](https://forum.opencyphal.org/t/stm32l5-drivers-for-libuavcan-integration/2225 "2024-11-11T16:44:31Z")
Hello everyone, I’m working on a project where I need to establish FDCAN communication on the STM32L5 series with libuavcan. I’m looking for guidance on a few points: FDCAN Drivers for STM32L5: I couldn’t find specifi… --- ## [Pika Spark - a Cyphal first micro robot control system](https://forum.opencyphal.org/t/pika-spark-a-cyphal-first-micro-robot-control-system/1988)
**Author:** [@aentinger](https://forum.opencyphal.org/u/aentinger)\ **Replies:** 16\ **Last updated:** [July 3, 2024, 9:20am UTC](https://forum.opencyphal.org/t/pika-spark-a-cyphal-first-micro-robot-control-system/1988 "2024-07-03T09:20:06Z")
Hi everyone :coffee: :wave: For quite some time I’ve been working on the Pika Spark, which is a Arduino Portenta X8 based micro robot control system combining an unprecedented amount of computing power and interfaces wi… --- ## [Cyphal/DroneCAN/PWM usage statistics](https://forum.opencyphal.org/t/cyphal-dronecan-pwm-usage-statistics/2110)
**Author:** [@ParallelAmmeter](https://forum.opencyphal.org/u/ParallelAmmeter)\ **Replies:** 2\ **Last updated:** [April 7, 2024, 1:01pm UTC](https://forum.opencyphal.org/t/cyphal-dronecan-pwm-usage-statistics/2110 "2024-04-07T13:01:05Z")
I am currently working on a master’s thesis in which I am comparing the methods of controlling the motors of quadcopter. The main part of my thesis is about flying with PWM, DroneCAN and Cyphal. I need a statistic on ho… --- ## [UAVCAN Verification](https://forum.opencyphal.org/t/uavcan-verification/2094)
**Author:** [@Natural](https://forum.opencyphal.org/u/Natural)\ **Replies:** 2\ **Last updated:** [March 19, 2024, 1:45pm UTC](https://forum.opencyphal.org/t/uavcan-verification/2094 "2024-03-19T13:45:29Z")
Hello everyone, I am new to UAVCAN and need to conduct a demo on UAVCAN. I have integrated UAVCAN into controllers. I am transmitting a heartbeat message and checking the message in the CAN Analyzer. I can see that data… --- ## [CyphalStore is live!](https://forum.opencyphal.org/t/cyphalstore-is-live/2059)
**Author:** [@maksim.drachov](https://forum.opencyphal.org/u/maksim.drachov)\ **Replies:** 1\ **Last updated:** [December 27, 2023, 4:23pm UTC](https://forum.opencyphal.org/t/cyphalstore-is-live/2059 "2023-12-27T16:23:23Z")
Dear comrades, We are proud to announce the launch of Cyphal Store! Cyphal Store is an online marketplace, specialized in the distribution of electronics, hardware and software that support OpenCyphal. You can make us… --- ## [Px4 compilation on apple M1 laptop - uavcan issue](https://forum.opencyphal.org/t/px4-compilation-on-apple-m1-laptop-uavcan-issue/2054)
**Author:** [@suvasis](https://forum.opencyphal.org/u/suvasis)\ **Replies:** 1\ **Last updated:** [December 23, 2023, 5:00pm UTC](https://forum.opencyphal.org/t/px4-compilation-on-apple-m1-laptop-uavcan-issue/2054 "2023-12-23T17:00:57Z")
hi, Pls check the log file attached. command \<\>PX4-Autopilot % make px4\_fmu-v5x\_default (log file is attached. ) I don’t see uavcan/\_register\* generated. Also there is no error per se. That’s why in vscode ServiceReq… --- ## [CyphalPicoBase/CAN - a node with Raspberry Pi Pico and MCP2515](https://forum.opencyphal.org/t/cyphalpicobase-can-a-node-with-raspberry-pi-pico-and-mcp2515/1764)
**Author:** [@generationmake](https://forum.opencyphal.org/u/generationmake)\ **Replies:** 16\ **Last updated:** [December 10, 2023, 11:25am UTC](https://forum.opencyphal.org/t/cyphalpicobase-can-a-node-with-raspberry-pi-pico-and-mcp2515/1764 "2023-12-10T11:25:17Z")
Hardware During the construction of the L3X-Z hexapod we had to develop several OpenCyphal nodes. One was the leg controller which is already described in the L3X-Z thread. The second type of node is the auxiliary cont… --- ## [FD CAN Development Board / Kit - Testing](https://forum.opencyphal.org/t/fd-can-development-board-kit-testing/1970)
**Author:** [@jackorton32](https://forum.opencyphal.org/u/jackorton32)\ **Replies:** 6\ **Last updated:** [September 21, 2023, 10:43pm UTC](https://forum.opencyphal.org/t/fd-can-development-board-kit-testing/1970 "2023-09-21T22:43:50Z")
Hi All, I am currently working on developing a set of CAN enabled microcontrollers and electronics. One of my first stepping stones is a dev board which I’m using both for hardware design verification and software devel… --- ## [Zubax Robotics is looking for a C++ Software Engineer](https://forum.opencyphal.org/t/zubax-robotics-is-looking-for-a-c-software-engineer/1963)
**Author:** [@maksim.drachov](https://forum.opencyphal.org/u/maksim.drachov)\ **Replies:** 2\ **Last updated:** [August 18, 2023, 7:33am UTC](https://forum.opencyphal.org/t/zubax-robotics-is-looking-for-a-c-software-engineer/1963 "2023-08-18T07:33:50Z")
We are looking to expand our team with a strong C++ software engineer interested in developing complex real-time embedded systems using modern technologies. Job description Develop high-integrity software used in mann… --- ## [Both use CAN (11bit) and UAVCAN at the same time on the same port?](https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791)
**Author:** [@Aleksandr\_Stekachev](https://forum.opencyphal.org/u/Aleksandr_Stekachev)\ **Replies:** 3\ **Last updated:** [July 3, 2023, 2:10pm UTC](https://forum.opencyphal.org/t/both-use-can-11bit-and-uavcan-at-the-same-time-on-the-same-port/1791 "2023-07-03T14:10:11Z")
Hi there! I am currently trying to connect the DistanceRange radar from Nanoradar model NRA24 for the PX4-Autopilot (STM32H7). This radar uses CAN 2.0A (11bit) for data transfer. Somewhere in the user manual I read: UAV… --- ## [L3X-Z - A OpenCyphal enabled hexapod robot for ELROB 2022](https://forum.opencyphal.org/t/l3x-z-a-opencyphal-enabled-hexapod-robot-for-elrob-2022/1682)
**Author:** [@aentinger](https://forum.opencyphal.org/u/aentinger)\ **Replies:** 26\ **Last updated:** [June 16, 2023, 6:12am UTC](https://forum.opencyphal.org/t/l3x-z-a-opencyphal-enabled-hexapod-robot-for-elrob-2022/1682 "2023-06-16T06:12:33Z")
TL;DR: We’ve¹ built and deployed a six-legged electric/hydraulic hexapod robot utilizing OpenCyphal at ELROB 2022, a long-running robot competition with a focus on military applications. Background Last week this ye… --- ## [Issues with email notifications](https://forum.opencyphal.org/t/issues-with-email-notifications/1889)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 1\ **Last updated:** [May 17, 2023, 6:43am UTC](https://forum.opencyphal.org/t/issues-with-email-notifications/1889 "2023-05-17T06:43:17Z")
We are experiencing temporary issues with email notifications caused by the migration of our mail server to a new IP address. Some notifications may be lost, delayed, or duplicated. Please bear with us while we’re fixing… --- ## [Why ArduPilot isn’t keen on Cyphal support](https://forum.opencyphal.org/t/why-ardupilot-isn-t-keen-on-cyphal-support/1845)
**Author:** [@auturgy](https://forum.opencyphal.org/u/auturgy)\ **Replies:** 3\ **Last updated:** [March 13, 2023, 6:46pm UTC](https://forum.opencyphal.org/t/why-ardupilot-isn-t-keen-on-cyphal-support/1845 "2023-03-13T18:46:21Z")
There has been some lengthy discussion, over several years, regarding the claimed benefits of Cyphal, and a distinct lack of balance due to @pavel.kirienko closing threads or making them private. To answer some of the c… --- ## [Zubax Robotics is looking for a Power Electronics PCB Engineer](https://forum.opencyphal.org/t/zubax-robotics-is-looking-for-a-power-electronics-pcb-engineer/1836)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [March 7, 2023, 1:36pm UTC](https://forum.opencyphal.org/t/zubax-robotics-is-looking-for-a-power-electronics-pcb-engineer/1836 "2023-03-07T13:36:31Z")
Zubax Robotics is looking for a power PCB design engineer to build electric drive inverters (motor controllers) for manned and unmanned electric aviation. The job entails the full development cycle starting from the ini… --- ## [Referencing the OpenCyphal project in publications](https://forum.opencyphal.org/t/referencing-the-opencyphal-project-in-publications/766)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [February 25, 2020, 11:02am UTC](https://forum.opencyphal.org/t/referencing-the-opencyphal-project-in-publications/766 "2020-02-25T11:02:15Z")
Please, cite OpenCyphal in scientific or technical publications. BibTeX @misc{OpenCyphal, abstract = {{OpenCyphal} is an open technology for robust real-time intravehicular distributed computing and communication base… --- ## [UAVCAN v1 is now Cyphal](https://forum.opencyphal.org/t/uavcan-v1-is-now-cyphal/1622)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 3\ **Last updated:** [January 10, 2023, 6:56pm UTC](https://forum.opencyphal.org/t/uavcan-v1-is-now-cyphal/1622 "2023-01-10T18:56:22Z")
This post is co-authored by Scott Dixon @scottdixon and Pavel Kirienko, long-time maintainer and BDFL respectively. As most of you know by now, there has been a fork of UAVCAN v0 codebases by a new open source project… --- ## [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [January 10, 2023, 6:17pm UTC](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814 "2023-01-10T18:17:13Z")
Cyphal has been conceived as an improved successor to a highly successful experimental protocol called UAVCAN v0, also known as DroneCAN. This article briefly outlines the differences between Cyphal and its predecessor a… --- ## [UAVCAN v0.5 In the Air](https://forum.opencyphal.org/t/uavcan-v0-5-in-the-air/1717)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 4\ **Last updated:** [September 28, 2022, 9:42am UTC](https://forum.opencyphal.org/t/uavcan-v0-5-in-the-air/1717 "2022-09-28T09:42:17Z")
Following @aentinger 's example of posting Cyphal use in the wild, Prime Air has announced operations in a location in California and now in College Station Texas (see below). While this vehicle is not yet flying on Cyph… --- ## [Fixed port for service](https://forum.opencyphal.org/t/fixed-port-for-service/1732)
**Author:** [@digitecomg](https://forum.opencyphal.org/u/digitecomg)\ **Replies:** 1\ **Last updated:** [August 5, 2022, 7:27am UTC](https://forum.opencyphal.org/t/fixed-port-for-service/1732 "2022-08-05T07:27:45Z")
If one wanted to create a fixed port from the DSDL eg. 100.rmap.module.Test.1.0 (Data type definition v1.0 with fixed port-ID 100), I read from the specification that it is allowed although not recommended. It’s correct? … --- ## [MCU recommendation for a general next generation, OpenCyphal-enabled product?](https://forum.opencyphal.org/t/mcu-recommendation-for-a-general-next-generation-opencyphal-enabled-product/1694)
**Author:** [@aentinger](https://forum.opencyphal.org/u/aentinger)\ **Replies:** 6\ **Last updated:** [June 27, 2022, 7:23am UTC](https://forum.opencyphal.org/t/mcu-recommendation-for-a-general-next-generation-opencyphal-enabled-product/1694 "2022-06-27T07:23:44Z")
Hi everyone :coffee: :wave: I’d like to start a little brainstorming session on what MCU you would use if you were to design a brand-new OpenCyphal product. I do realise that this somewhat depends on the exact nature of… --- ## [Implementing OpenCyphal API](https://forum.opencyphal.org/t/implementing-opencyphal-api/1677)
**Author:** [@soypat](https://forum.opencyphal.org/u/soypat)\ **Replies:** 3\ **Last updated:** [June 6, 2022, 11:10am UTC](https://forum.opencyphal.org/t/implementing-opencyphal-api/1677 "2022-06-06T11:10:30Z")
Hello, I’m interested in using OpenCyphal where I work and for side projects. I’d like to create a native Go implementation of OpenCyphal with the purpose of using it on low level micro-controllers such as the RP2040 and… --- ## [New name, new chat](https://forum.opencyphal.org/t/new-name-new-chat/1642)
**Author:** [@scottdixon](https://forum.opencyphal.org/u/scottdixon)\ **Replies:** 0\ **Last updated:** [April 13, 2022, 5:58pm UTC](https://forum.opencyphal.org/t/new-name-new-chat/1642 "2022-04-13T17:58:34Z")
Hello all, with the new direction we are taking with OpenCyphal we’ve also setup a new communication mechanism; a public Matrix chat space: \[REDACTED\] This forum continues to be the authoritative place for announcement… --- ## [Domain change notice](https://forum.opencyphal.org/t/domain-change-notice/1638)
**Author:** [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Replies:** 0\ **Last updated:** [April 11, 2022, 5:44pm UTC](https://forum.opencyphal.org/t/domain-change-notice/1638 "2022-04-11T17:44:58Z")
All emails at @uavcan.org are no longer functional. Please use the new domain @opencyphal.org. [Next page](https://forum.opencyphal.org/c/general/11.md?page=1)