Mini v2 Cyphal/DroneCAN application template

This repo introduces a simple ready-to-use Cyphal/DroneCAN application template for RL Mini v2 node.

Please, refer Wiki for details:

• Cyphal template application,
• DroneCAN template application.

1. Key features

• Minimal recommended Cyphal features are supported out of the box (bootloader and DNA are coming next),
• You can run the software in SITL mode (don't need to have any hardware),
• Cyphal firmware binary is only 35.2 KB.

2. Brief hardware info

Top view	Bottom view	Pinout	STM32CubeMX

3. Brief Cyphal capabilities

By default the application is as simple as possible. It just blinks the RGB LED, subscribes to the setpoint topic to control a single PWM (PWM1) and publishes a feedback with the latest applied setpoint. It doesn't have any safety features like TTL, but you are free to extend it as you want.

The default capabilities of the node are shown on the picture below:

4. Brief DroneCAN capabilities

The application subscribes on a message configured in pwm.cmd_type. It supports: esc.RawCommand, actuator.ArrayCommand, hardpoint.Command. It controls the PWM and sends back esc.Status, actuator.Status, hardpoint.Status as feedback. It also sends power.CircuitStatus with the circuit state (5v voltage, vin voltage, current) and device.Temperature with stm32 internal measured temperature.

5. Q&A

If you are strugguling with the software building, please refer to the build workflow build.yml for a hint. If it doesn't help, you can open an issue.

6. More examples

Consider the following projects based on this template examples:

1. RL UAV Lights node
2. IU VTOL PMU node
3. IU Airspeed+rangefinder+ligths+PWM node
4. IU Fuel tank node