DroneCAN ESC Setup

How to Configure an ESC with ArduPilot: A Step-by-Step Bench Testing Guide

Follow this step-by-step guide to get your motor up and running on the bench ArduPilot, configured via DroneCAN. This setup ensures a clean, conflict-free configuration, minimising common issues and allowing for safe bench-level testing of your motor setup.

Equipment Used in This Guide

• Mission Planner on Windows 11.
• CubePilot Cube Orange+
• ESC (Connected via CAN1 Port to Flight Computer)
• Power Supply (Connected to ESC)
• Test Motor (Connected to ESC)

Step 1: Reset ArduPilot Parameters

Start with a clean configuration to avoid legacy or conflicting parameters.

• Reset all flight controller parameters within Mission Planner
• Reboot the flight controller using ctrl+f > reboot pixhawk

Step 2: Set Frame Class and Type

Proper frame configuration ensures the correct mapping of motors and control logic.

• Open Config > Full Parameter List.
• Set FRAME_CLASS = 1 — this selects Quad.
• Set FRAME_TYPE = 1 — this selects the common "X" frame layout.
• Click Write Params.
• Reboot the flight controller after making these changes.

Step 3: Calibrate the Compass

• Navigate to Setup > Mandatory Hardware > Compass.
• Under Onboard Mag Calibration, click Start.
• Slowly rotate the flight controller through all axes (360°) to allow calibration to complete.
• Once complete, you will see MAG_CAL_SUCCESS displayed.
• Reboot the flight controller.

Step 4: Calibrate the Accelerometer

• Navigate to Setup > Mandatory Hardware > Accelerometer Calibration.
• Select Calibrate Accel and follow the on-screen prompts.
• Wait for Calibration successful.
• Reboot the flight controller.

Step 5: Disable the Hardware Safety Switch (For Bench Testing)

By default, some flight controllers require a hardware safety switch to enable motor output. For bench tests, we can disable this requirement:

• Navigate to Config > Full Parameter List.
• Set BRD_SAFETY_DEFLT = 0.
• Click Write Params.
• Reboot the flight controller.

Step 6: Resolve "RC Not Found" Errors

When testing without an RC receiver, suppress this error:

• Navigate to Config > Full Parameter List.
• Modify the ARMING_CHECK bitmask to disable RC input checks.
• Set ARMING_CHECK = 1047998 (this disables only the RC input check while retaining other safety checks).

• Click Write Params.
• Reboot the flight controller.

Step 7: Enable DroneCAN Communication

Activate the CAN port to allow communication with the ESC:

• Navigate to Config > Full Parameter List.
• Set CAN_P1_DRIVER = 1 — this enables the CAN1 port.
• Click Write Params and reboot the flight controller to unlock additional CAN parameters.

Once rebooted:

If no additional parameters have been unlocked, click ‘Refresh Params’

• Verify CAN_D1_PROTOCOL = 1 (DroneCAN protocol enabled — usually default).

Step 8: Bench Testing

You have two options for bench testing: Hargrave Configurator or Mission Planner’s Motor Test.

Option A: Using Hargrave Configurator

• Set CAN_D1_UC_ESC_BM = 0 — This disables ArduPilot control, allowing the configurator to send commands directly.
• Disconnect your Flight Computer from Mission Planner.
• Connect to the Flight Computer’s MAVlink Virtual Port using the Hargrave Technologies Configurator Tool, by selecting the ‘Connect A DroneCAN Network’ (https://configurator.hargravetechnologies.com/)
• Navigate to the Control Page.
• Enable Drive when ready to test your setup.
• Adjust throttle sliders to test motor output.

Option B: Using Mission Planner Motor Test

• Set CAN_D1_UC_ESC_BM = 15 — This enables motors 1-4 for DroneCAN control. Use the bitmask selection tool in Mission Planner for convenience.

• Click Write Params.
• Navigate to Setup > Optional Hardware > Motor Test.
• Set desired Throttle % and Test Duration.
• To spin all motors, rapidly press;
  • “Test All Motors” → “Stop All Motors” → “Test All Motors”