How to control Servos via UAVCAN?

[pavel.kirienko]

UAVCAN v0 is currently in the legacy maintenance mode and it will see no further development. New projects should adopt UAVCAN v1, which rules out UC4H. The PX4 team is currently working on supporting UAVCAN v1 and it is expected to be available in the foreseeable future (I am not in a position to provide any estimates, it’s best to consult with the PX4 devs directly).

For interfacing your analog servos with UAVCAN consider building an adapter node based on 107-Arduino-UAVCAN. You will find relevant documentation on the project page and also on this forum (use search):

Hardware example using UAVCAN v1 on Arduino

The 107-Arduino-UAVCAN library is now at a point where it can be used to make small working projects and here is an example how to do it. This example uses unregulated Subject-IDs. Register API is not yet implemented in the library so the Subject-IDs are coded in the Arduino sketch. The example generates a Heartbeat message every second. My example uses an Arduino MKR WiFi 1010 with a MKR CAN Shield. The Arduino has a builtin LED and two more LEDs are connected to pin 2 and 5. A tactile switc…