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UAVCAN: Configurable LED Light Control with Flexible Addressing (#26253)

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* feat: implement UAVCAN LED control for individual light control and assignment

* uavcan led: nit-picks from review

* uavcan led: reduce maximum number of lights

to avoid unused parameters

* uavcan led: simplify anticolision on check

* uavcan led: correctly map 8-bit RGB to rgb565

* Trim param name character arrays to 17

16 characters + \0 termination

* uavcan led: final nit-picks

---------

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Claudio Chies
2026-02-16 09:39:48 -08:00
committed by GitHub
parent 32c94bd3b1
commit e52ce5c43b
9 changed files with 215 additions and 199 deletions
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docs/en/peripherals/vertiq.md
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@@ -38,6 +38,19 @@ Instructions for integrating the motor/ESC using with DroneCAN can be found in [
These instructions walk you through setting the correct parameters for enabling the flight controller's DroneCAN drivers, setting the correct configuration parameters for communication with Vertiq modules on the DroneCAN bus, ESC configuration, and testing that your flight controller can properly control your modules over DroneCAN.
#### LED Configuration for Vertiq Modules
::: info
This configuration is only required if you have the optional [Vertiq LED module add-on](https://www.vertiq.co/add-ons).
Standard Vertiq ESC modules do not include LEDs.
:::
Vertiq LED Add-on modules have two LEDs per ESC (RGB for status, White for anti-collision).
See [DroneCAN Lights](../dronecan/index.md#lights) for configuration instructions.
The `light_id` for each LED is calculated as: `esc_index × 3 + BASE_ID`, where `BASE_ID` is 1 for RGB and 2 for White.
### DShot/PWM Configuration
Instructions for integrating the motor/ESC using PWM and DShot can be found in [PWM and DShot Control with a Flight Controller](https://iqmotion.readthedocs.io/en/latest/tutorials/pwm_control_flight_controller.html).