UAVCAN: Add LED Addressing Mode with Vertiq Support #26216

Claudio-Chies · 2026-01-05T14:11:47Z

Summary

Adds a new UAVCAN_LGT_MODE parameter to configure LED addressing for UAVCAN LightsCommand messages. This enables automatic LED control for Vertiq motor modules with integrated LEDs.

Changes

New parameter UAVCAN_LGT_MODE with two modes:
- 0 (Generic): Uses standard UAVCAN convention for led assignment
- 1 (Vertiq): Auto-calculates light_id values for Vertiq ESC index
Vertiq mode features:
- RGB LED: light_id = esc_index * 3 + 1 (displays PX4 status colours)
- White LED: light_id = esc_index * 3 + 2 (anti-collision lighting)
- ESC count automatically detected from esc_status topic (no manual configuration required)
Documentation: Added LED configuration section to Vertiq peripheral docs

Motivation

Vertiq motor modules with the LED add-on require specific light_id addressing that doesn't match standard DroneCAN conventions.

Testing

Tested with 4 motors and LED Addons, status and anti-collision works as intended

github-actions · 2026-01-05T14:19:59Z

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Updated: 2026-01-08T13:53:09

…AN support

MaEtUgR · 2026-01-08T12:40:18Z

src/drivers/uavcan/rgbled.hpp

+	uint8_t _esc_count{0};
+
 	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::UAVCAN_LGT_MODE>) _param_lgt_mode,


That's the convention, I know the other fields here were not corrected yet.

Suggested change

(ParamInt<px4::params::UAVCAN_LGT_MODE>) _param_lgt_mode,

(ParamInt<px4::params::UAVCAN_LGT_MODE>) _param_uavcan_lgt_mode,

src/drivers/uavcan/rgbled.cpp

MaEtUgR · 2026-01-08T12:52:19Z

src/drivers/uavcan/rgbled.cpp

-			cmd.color = brightness_to_rgb565(_param_mode_nav.get() >= control_mode ? 255 : 0);
-			cmds.commands.push_back(cmd);
+				for (uint8_t esc = 0; esc < _esc_count; esc++) {
+					cmd.light_id = esc * 3 + VERTIQ_WHITE_BASE_ID;


Again the light_id is the only difference, can we not duplicate the rest of the logic?

It's not because you sent to all ESCs instead of just one ID 🙈

github-actions · 2026-01-08T13:44:55Z

/en/peripherals/vertiq.md

LinkedFileMissingAnchor: #UAVCAN_LGT_MODE not found in ../advanced_config/parameter_reference.md (/home/runner/work/PX4-Autopilot/PX4-Autopilot/docs/en/advanced_config/parameter_reference.md)

MaEtUgR · 2026-01-08T13:49:11Z

src/drivers/uavcan/rgbled.cpp

+		if (vertiq_mode) {
+			// Vertiq mode: send RGB status to all ESC RGB LEDs
+			for (uint8_t esc = 0; esc < _vertiq_esc_count; ++esc) {
+				cmd.light_id = esc * 3 + VERTIQ_RGB_BASE_ID;


How do you know that the ESC ids are [0, esc_status.esc_count - 1]. This might usually be the case but should at least be noted to be a requirement no?

MaEtUgR · 2026-01-09T09:19:21Z

src/drivers/uavcan/rgbled.cpp

+				cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_ANTI_COLLISION;
+				cmds.commands.push_back(cmd);
+
+				// Strobes
+				cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_STROBE;
+				cmd.color = _param_uavcan_lgt_strob.get() >= control_mode ? color_on : color_off;
+				cmds.commands.push_back(cmd);
+
+				// Nav lights
+				cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_RIGHT_OF_WAY;
+				cmd.color = _param_uavcan_lgt_nav.get() >= control_mode ? color_on : color_off;
+				cmds.commands.push_back(cmd);
+
+				// Landing lights
+				cmd.light_id = uavcan::equipment::indication::SingleLightCommand::LIGHT_ID_LANDING;
+				cmd.color = _param_uavcan_lgt_land.get() >= control_mode ? color_on : color_off;
+				cmds.commands.push_back(cmd);


Not your fault but I'm unsure why these LED types would all need to be configurable to on, off, on arm independently. What are the odds someone has these types and all sets them differently... I'd understand if the land one is on during landing but otherwise I'd just send them out either way or have a bitmask parameter which ones even exist to not flood the CAN bus for the case someone has a light of a certain type 🤷‍♂️

Claudio-Chies · 2026-01-12T13:20:47Z

Superseeded by #26253

github-actions bot added the Documentation 📑 label Jan 5, 2026

Claudio-Chies changed the title ~~Add LED support with configurable light_id~~ UAVCAN: Add LED support with configurable light_id Jan 5, 2026

Claudio-Chies requested a review from MaEtUgR January 5, 2026 14:15

Claudio-Chies marked this pull request as draft January 8, 2026 07:47

Claudio-Chies force-pushed the pr-uavcan_led branch from eb8ea9f to 934b67f Compare January 8, 2026 11:08

Claudio-Chies changed the title ~~UAVCAN: Add LED support with configurable light_id~~ UAVCAN: Add LED Addressing Mode with Vertiq Support Jan 8, 2026

Claudio-Chies marked this pull request as ready for review January 8, 2026 11:14

Claudio-Chies added 2 commits January 8, 2026 12:55

feat: add UAVCAN LED addressing mode for Vertiq modules

931a91b

docs: add LED configuration instructions for Vertiq modules with UAVC…

a9e5de9

…AN support

Claudio-Chies force-pushed the pr-uavcan_led branch from 934b67f to a9e5de9 Compare January 8, 2026 11:56

MaEtUgR reviewed Jan 8, 2026

View reviewed changes

uavcan rgbled: naming, simplification suggestion

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MaEtUgR reviewed Jan 8, 2026

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MaEtUgR reviewed Jan 9, 2026

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Claudio-Chies mentioned this pull request Jan 12, 2026

UAVCAN: Configurable LED Light Control with Flexible Addressing #26253

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Claudio-Chies marked this pull request as draft January 12, 2026 13:20

Claudio-Chies closed this Jan 22, 2026

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UAVCAN: Add LED Addressing Mode with Vertiq Support #26216

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	(ParamInt<px4::params::UAVCAN_LGT_MODE>) _param_lgt_mode,
	(ParamInt<px4::params::UAVCAN_LGT_MODE>) _param_uavcan_lgt_mode,

UAVCAN: Add LED Addressing Mode with Vertiq Support #26216

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