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docs: uavcannode: document CANNODE_NODE_ID for static node ID

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Jacob Dahl
2025-10-14 12:28:06 -08:00
committed by Jacob Dahl
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docs/en/dronecan/px4_cannode_fw.md
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@@ -20,6 +20,26 @@ make ark_can-flow_default
This will create an output in **build/ark_can-flow_default** named **XX-X.X.XXXXXXXX.uavcan.bin**. Follow the instructions at [DroneCAN firmware update](index.md#firmware-update) to flash the firmware.
## Configuration
### Static Node ID
By default, DroneCAN devices use [Dynamic Node Allocation (DNA)](index.md#node-id-allocation) to automatically obtain a unique node ID from the flight controller.
However, you can configure a static node ID using the [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) parameter.
To configure a static node ID:
1. Set [CANNODE_NODE_ID](../advanced_config/parameter_reference.md#CANNODE_NODE_ID) to a value between 1-127 using [QGroundControl](index.md#qgc-cannode-parameter-configuration)
2. Reboot the device
To return to dynamic allocation, set `CANNODE_NODE_ID` back to 0.
Note that when switching back to dynamic allocation, the flight controller will typically continue to allocate the same node ID that was previously used (this is normal DNA behavior).
:::warning
When using static node IDs, you must ensure that each device on the CAN bus has a unique node ID.
Configuring two devices with the same ID will cause communication conflicts.
:::
## Developer Information
This section has information that is relevant to developers who want to add support for new DroneCAN hardware to the PX4 Autopilot.