CAN Termination Resistance Software Toggle

For future versions of Holybro DroneCAN devices, a software toggle allows users to enable and disable the termination resistance (120Ω).

Currently supported model and serial number

H-Flow	All version
DLVR Airspeed Sensor	19012001***; 19013001***; 19014001*** and later
PM08-CAN	15028001***; 15029001***; 15030001*** and later
DroneCAN M9N	12032002*** and later
DroneCAN H-RTK F9P Helical	12037003*** and later
DroneCAN RM3100	18088002***; 18089002*** and later
H-RTK ZED-F9P Rover	12059002*** and later

Ardupilot (Mission Planner) setup guide

1. Connect the DroneCAN peripheral to the CAN port on the flight controller

2. After establishing the connection to the flight controller on MissionPlanner, head to Setup->Optional Hardware->DroneCAN/UAVCAN. Click MAVlink-CAN1 if connected to the CAN1 port and MAVlink-CAN2 for the CAN2 port to scan CAN devices.

3. Find the appropriate device (Holybro products have HolybroG4 in the name), click menu->Parameters:

   
4. Find the CAN_TERMINATE command and you will see the value defaults to 0. Set CAN_TERMINATE to 1 to enable 120Ω termination resistance, and 0 to disable it

1. Click Write Params to save the configuration

PX4 (QGroundControl) setup guide

1. Make sure the parameters are set accordingly so the firmware can detect the CAN device

2. Navigate to Vehicle Setup->Parameters and click Standard to hide flight controller parameters:

   
3. If your CAN device is successfully detected, you will see a section labeled Components with numbers following it:

   
4. Expand the Component section, navigate to the CAN tab, and change the CAN_TERMINATE value to enable or disable termination resistance (120Ω). Set to 1 to enable and 0 to disable.