From 27f91614584de152a49be9b631601c188f3d7356 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Sun, 14 Sep 2025 12:02:06 -0800 Subject: [PATCH] ark: UAVCAN_ESC_IFACE per board, v6x uses CAN2 --- boards/ark/fmu-v6x/init/rc.board_defaults | 2 ++ boards/ark/fpv/init/rc.board_defaults | 2 ++ boards/ark/pi6x/init/rc.board_defaults | 2 ++ 3 files changed, 6 insertions(+) diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults index d0732e90ef..d20bbfa1c3 100644 --- a/boards/ark/fmu-v6x/init/rc.board_defaults +++ b/boards/ark/fmu-v6x/init/rc.board_defaults @@ -25,6 +25,8 @@ param set-default SENS_IMU_TEMP 10.0 #param set-default SENS_IMU_TEMP_I 0.025 #param set-default SENS_IMU_TEMP_P 1.0 +param set-default UAVCAN_ESC_IFACE 2 + if ver hwtypecmp ARKV6X000 then param set-default SENS_TEMP_ID 2818058 diff --git a/boards/ark/fpv/init/rc.board_defaults b/boards/ark/fpv/init/rc.board_defaults index 5605f60d02..dc7a548573 100644 --- a/boards/ark/fpv/init/rc.board_defaults +++ b/boards/ark/fpv/init/rc.board_defaults @@ -30,6 +30,8 @@ param set-default BAT1_V_DIV 21.0 param set-default RC_CRSF_PRT_CFG 300 param set-default RC_SBUS_PRT_CFG 0 +param set-default UAVCAN_ESC_IFACE 1 + param set-default IMU_GYRO_DNF_EN 3 # Single IMU diff --git a/boards/ark/pi6x/init/rc.board_defaults b/boards/ark/pi6x/init/rc.board_defaults index 1b92949d1d..9ddf3f88c4 100644 --- a/boards/ark/pi6x/init/rc.board_defaults +++ b/boards/ark/pi6x/init/rc.board_defaults @@ -26,6 +26,8 @@ param set-default SENS_IMU_TEMP 10.0 #param set-default SENS_IMU_TEMP_I 0.025 #param set-default SENS_IMU_TEMP_P 1.0 +param set-default UAVCAN_ESC_IFACE 1 + if ver hwtypecmp ARKPI6X000 then # TODO: Add the correct sensor ID