CAN PMU Firmware Upgrade

Firmware updates add features and improve performance. Before upgrading, complete the wiring described in the CAN PMU overview.

NOTE

ArduPilot AC4.0 / AP4.0 and later support upgrading and debugging UAVCAN devices through the controller (PX4 firmware does not). The steps below require that firmware version or newer.

Parameter setup

Enable CAN PMU on the controller (CAN_P1_DRIVER set to 1), then set the following parameters to enable CAN SLCAN:

CUAV V5+ / V5 Nano

CAN_SLCAN_CPORT set to 1
SERIAL7_PROTOCOL set to 22
Reboot the controller

NOTE

Under AP4.0 and later, CUAV V5 / V5 Nano / FMU V5 expose two USB serial ports: one for MAVLink, one for SLCAN. If only one appears, reinstall the USB driver.

Pixhack series / FMU V2 / FMU V3 / FMU V4

CAN_SLCAN_CPORT set to 1
CAN_SLCAN_TIMEOUT set to 130000
CAN_SLCAN_SERNUM set to 0
Do not reboot until the upgrade finishes

NOTE

STM32F4 does not support dual virtual USB ports, so controllers below FMU V5 can only use SLCAN after MAVLink transmission is disabled. With the settings above the USB port stops outputting MAVLink and becomes an SLCAN port; MAVLink resumes after a reboot.

Wiring

CAN PMU upgrade wiring

Connect the CAN and Power cables
Connect the controller to the PC over USB and power the CAN PMU from a battery

Upgrade procedure

Method 1: Mission Planner

ArduPilot firmware download

Select the SLCAN port

Select the device port that corresponds to SLCAN
In the UAVCAN view, click slcan mode CAN1
Click Update and choose No in the dialog (Yes selects online firmware, No selects a local file)
Select the firmware file

Select the firmware