Hardware: The reference hardware design files are available on GitHub. The firmware is portable though; much like PX4, it can run on other hardware designs as well.
Firmware: The firmware is called Sapog and runs on all compatible ESC designs. Please refer to the Sapog documentation page to learn more.
Connect the cable from the Pixhawk CAN port to the CAN port on the first ESC. Connect a second CAN cable from the connector below (or above) it to the next ESC and so on. On the final ESC in the chain plug in a terminator instead of an outbound cable.
The following interfaces are supported:
Please refer to the Sapog firmware documentation to learn more about interfacing.
|2||UART1 TX (out)|
|3||UART1 RX (in)|