iNavFlight · daijoubu · Sep 3, 2026 · qodo-free-for-open-source-projects · Sep 3, 2026 · qodo-free-for-open-source-projects
diff --git a/docs/05-core-features/battery.mdx b/docs/05-core-features/battery.mdx
@@ -38,6 +38,23 @@ Enable the `VBAT` feature to enable the measurement of the battery voltage and t
 `vbat_scale` - Adjust this setting to match actual measured battery voltage to reported value.
 Increasing this value increases the measured voltage.
 
+### Voltage Sensor Source
+
+INAV can read the battery voltage from the flight controller's own ADC, or from a remote source (ESC telemetry, SmartPort, CRSF, or a DroneCAN battery monitor).
+Select the source with the `bat_voltage_src` setting:
+
+| Value | Sensor Source          |
+| ----- | ---------------------- |
+| 0     | None                   |
+| 1     | ADC / hardware sensor  |
+| 2     | ESC telemetry          |
+| 3     | Fake (test/development) |
+| 4     | SmartPort telemetry    |
+| 5     | CRSF telemetry         |
+| 6     | DroneCAN               |
+
+For a DroneCAN battery monitor, set `bat_voltage_src = CAN`; for setup and supported hardware see [Battery Monitoring via DroneCAN](#battery-monitoring-via-dronecan).
+
 ### Voltage Measurement Source
 
 Two voltage sources are available: raw voltage and sag compensated voltage.
@@ -99,13 +116,18 @@ Enable current monitoring using the CLI command:
 feature CURRENT_METER
 ```
 
-Configure the current meter type using the `current_meter_type` settings here:
+Configure the current meter type using the `current_meter_type` setting:
 
 | Value | Sensor Type            |
 | ----- | ---------------------- |
 | 0     | None                   |
-| 1     | ADC/hardware sensor    |
+| 1     | ADC / hardware sensor  |
 | 2     | Virtual sensor         |
+| 3     | Fake (test/development) |
+| 4     | ESC telemetry          |
+| 5     | SmartPort telemetry    |
+| 6     | CRSF telemetry         |
+| 7     | DroneCAN               |
 
 Configure capacity using the `battery_capacity` setting, in mAh units.
 
@@ -182,6 +204,24 @@ current_meter_scale = (reported_draw_mAh / charging_data_mAh) * old_current_mete
                     = 435
 ```
 
+## Battery Monitoring via DroneCAN
+
+A DroneCAN battery monitor sends voltage and current together in a single `BatteryInfo` message.
+Both readings come from the same source, so they update in lockstep when using a DroneCAN source.
+
+Enable voltage and current from a DroneCAN battery monitor:
+
+```
+set bat_voltage_src = CAN
+set current_meter_type = CAN
+feature CURRENT_METER
+save
+```
+
+The `CAN` value for both settings is selected from the same enumerations used for other sources — `bat_voltage_src` accepts `RAW`, `SAG_COMP`, and `CAN`; `current_meter_type` accepts the full set in the table above (None, ADC, Virtual, Fake, ESC, SmartPort, CRSF, DroneCAN).
+
+For general DroneCAN setup (bus bitrate, FC node ID, supported hardware) see [DroneCAN](../06-advanced-features/dronecan.mdx).
+
 ## Power and Current Limiting
 
 INAV includes an advanced power and current limiting system to protect your battery and ESCs from excessive discharge rates.

diff --git a/docs/05-core-features/gps.mdx b/docs/05-core-features/gps.mdx
@@ -257,6 +257,33 @@ If you are using your FC onboard mag, try to place the the FC as far away as pos
 The current draw can cause the Spektrum receiver to brownout.
 Instead use a 3.3V regulator and power the GPS from the BEC or separate battery.
 
+## GNSS via DroneCAN
+
+A DroneCAN GNSS receiver broadcasts position data on the CAN bus, separate from any UART-connected GPS.
+You can use a DroneCAN GNSS in place of a Ublox receiver on a serial port.
+
+To use a DroneCAN GNSS receiver as the position source:
+
+```
+set gps_provider = DRONECAN
+save
+```
+
+The flight controller will automatically receive GPS data from any DroneCAN GNSS device on the bus.
+The GNSS node's own parameters — including which constellations it tracks — live on the node, not in INAV's settings.
+Edit them through the **DroneCAN** tab in INAV Configurator: use GetNodeInfo to find the GNSS node, then GetSet to browse and edit its parameters.
+Out-of-range writes are rejected in the UI before they're sent.
+
+The most common firmware on DroneCAN GNSS nodes is AP_Periph.
+For the parameter names it exposes (e.g. `GPS_TYPE`, the `GPS_` group, the `GNSS_` group), see the [ArduPilot AP_Periph Complete Parameter List](https://ardupilot.org/dev/docs/AP_Periph-Parameters.html).
+
+:::info
+INAV only supports a single GNSS source at a time.
+If a DroneCAN GNSS is selected via `gps_provider = DRONECAN`, the serial-port `GPS` configuration is ignored — including `gps_auto_baud` and `gps_auto_config`, which only apply when `gps_provider` is set to a serial source.
+:::
+
+For general DroneCAN setup (bus bitrate, FC node ID, supported hardware) see [DroneCAN](../06-advanced-features/dronecan.mdx).
+
 ## Related Topics
 
 - [GPS Fix Estimation](../06-advanced-features/gps-fix-estimation.mdx)
diff --git a/docs/06-advanced-features/dronecan.mdx b/docs/06-advanced-features/dronecan.mdx
@@ -0,0 +1,137 @@
+---
+title: DroneCAN
+description: Connect external sensors and peripherals to INAV over a CAN bus using the DroneCAN protocol
+---
+
+DroneCAN (formerly UAVCAN v0) is a lightweight protocol designed for reliable communication in aerospace and robotic applications over a CAN bus.
+INAV supports DroneCAN for connecting external sensors and peripherals such as battery monitors and GNSS receivers.
+
+## What DroneCAN gives you
+
+A single CAN bus can carry multiple sensors and actuators to and from the flight controller.
+Peripherals broadcast on the bus, the flight controller listens, and configuration goes back the other way.
+This lets you:
+
+- Replace a flight-controller ADC with a digital battery monitor that already measures both voltage and current, including per-cell data
+- Use a remote GNSS receiver mounted away from RF noise without running a long serial cable
+- Add and remove peripherals without re-flashing or re-wiring the FC
+
+:::info
+DroneCAN is independent of your serial-port configuration.
+It uses the CAN bus peripheral on the flight controller, which is separate from any UART.
+:::
+
+## Supported hardware
+
+DroneCAN requires a flight controller with CAN bus hardware:
+
+- STM32H7 boards (FDCAN peripheral)
+- STM32F7 boards (bxCAN peripheral)
+
+Check your flight controller's documentation to confirm CAN bus availability before connecting any DroneCAN peripherals.
+
+## Supported features
+
+| Feature | Status | Notes |
+| --- | --- | --- |
+| GNSS receiver | Supported | Set `gps_provider = DRONECAN` |
+| Battery voltage | Supported | Set `bat_voltage_src = CAN` |
+| Battery current | Supported | Set `current_meter_type = CAN` |
+| Per-node parameter Get/Set, Restart, Save | Supported | Configurator "DroneCAN" tab — requires INAV 10.0 or later |
+| Dynamic Node Allocation (DNA) | Supported | Optional server; assigns node IDs automatically — requires INAV 10.0 or later |
+| CAN bus-off event logging | Supported | New blackbox field `droneCANBusOffCount` — requires INAV 10.0 or later |
+| ESC / actuator / RC-input over CAN | Not yet | Targeted for a future INAV release |
+
+## Basic configuration
+
+Open the **DroneCAN** tab in INAV Configurator to configure the flight controller on the bus — node ID, bitrate, and the DNA server toggle all live there.
+The same settings are also available via the CLI, which is useful for scripted setup or if the tab isn't available on your platform.
+
+```
+set dronecan_node_id = 10
+set dronecan_bitrate = 1000KBPS
+save
+```
+
+| Setting | Values | Default | Description |
+| --- | --- | --- | --- |
+| `dronecan_node_id` | 1-127 | 10 | CAN node ID for the flight controller |
+| `dronecan_bitrate` | 125KBPS, 250KBPS, 500KBPS, 1000KBPS | 1000KBPS | CAN bus bitrate; all peripherals must match |
+| `dronecan_use_dna_server` | OFF, ON | ON | Whether the flight controller runs the Dynamic Node Allocation server (see [Node management](#node-management)) |
+
+:::note
+Node IDs 126 and 127 are reserved for network maintenance tools — avoid assigning them to your FC or peripherals.
+:::
+
+### Common next steps
+
+After enabling DroneCAN on the bus, choose where each sensor's data should come from:
+
+- For a DroneCAN GNSS receiver, see the [GPS](../05-core-features/gps.mdx) page.
+- For a DroneCAN battery monitor (voltage and/or current), see the [Battery Monitoring](../05-core-features/battery.mdx) page.
+
+## Node management
+
+:::info
+This section describes behaviour available in INAV 10.0 and later, behind firmware PR #11683 and configurator PR #2671 (parameter Get/Set and the DroneCAN configurator tab), firmware PR #11688 and configurator PR #2672 (Dynamic Node Allocation), and firmware PR #11729 (CAN bus-off blackbox logging).
+It documents the *intended* user experience; behaviour may shift during review before these PRs merge.
+:::
+
+INAV exposes DroneCAN nodes it can see on the bus through the INAV Configurator's **DroneCAN** tab.
+For each node you can:
+
+- Read its identity (`GetNodeInfo`) — name, hardware/software version, unique ID
+- Browse and edit its parameters (`GetSet`) — with the per-parameter `min`/`max` reported by the node itself, so out-of-range writes are rejected in the UI before they're sent
+- Save parameters to the node's EEPROM (`ExecuteOpcode(SAVE)`)
+- Restart the node (`RestartNode`) — useful after firmware updates or when a peripheral is wedged
+
+:::warning
+The **Restart** button on a node restarts *that node*, not the flight controller.
+It is intentionally placed away from the global **Save & Reboot** button so the two cannot be confused.
+:::
+
+### Per-node restart caveat
+
+Some peripherals acknowledge a `RestartNode` command and then reset themselves so quickly that their ACK frame never makes it onto the bus before the bus is gone.
+In that case the configurator will report "RestartNode failed" even though the node did in fact restart successfully.
+Confirm a successful restart by checking the node's `NodeStatus` heartbeats on the bus before assuming the restart was lost.
+
+### Dynamic Node Allocation
+
+If you enable the DNA server (`dronecan_use_dna_server = ON`, the default), the flight controller assigns node IDs to peripherals that don't already have one configured.
+This means you can plug in a new DroneCAN peripheral and not have to manually configure its node ID first.
+
+The DNA server:
+
+- Honours a peripheral's preferred node ID where it can (within the available range, skipping already-allocated IDs)
+- Stores its allocation table in persistent storage so the same peripheral gets the same node ID across power cycles
+- Detects conflicts with actively-broadcasting nodes and reassigns rather than overwriting
+- Reserves node IDs 126 and 127 for network maintenance tools and the FC's own ID range
+
+If you prefer to assign every node ID manually, set `dronecan_use_dna_server = OFF` — or uncheck the toggle in the **DroneCAN** tab.
+
+### Blackbox logging
+
+INAV exposes a cumulative bus-off event counter as a blackbox slow (S) frame field, `droneCANBusOffCount`.
+This lets you diagnose intermittent CAN bus faults from a recorded flight log without having to attach the configurator live and watch the `dronecan` CLI.
+
+The field is gated behind `USE_DRONECAN` in the firmware and only appears in blackbox logs when DroneCAN is enabled on the target.
+
+## Bus wiring notes
+
+DroneCAN requires a properly terminated CAN bus — termination at each physical end of the bus, not in the middle.
+
+- Each flight controller and each peripheral should declare its own bus termination state in its documentation; verify both ends of the bus are terminated.
+- A common cause of intermittent DroneCAN faults is missing or duplicated termination, which shows up in blackbox as an incrementing `droneCANBusOffCount` during the affected segment.
+- Avoid running the CAN bus parallel to and close to RF sources (video transmitter, radio receiver with telemetry) — the bus is differential but shares the same physical space and can pick up noise.
+
+## Troubleshooting
+
+If a peripheral isn't appearing in the configurator or isn't being seen by INAV:
+
+- Verify the bitrate matches between the FC and all peripherals — the most common cause is a peripheral left at a different default bitrate from the FC
+- Check the CAN wiring: CAN-H and CAN-L must not be swapped, both ends of the bus must be terminated, and the bus should have a common ground
+- Check `dronecan` in the CLI for an active node count
+- If you suspect bus-off events, decode a blackbox log and look at `droneCANBusOffCount` over time
+
+For more detail on the protocol internals and the driver layer, see `docs/DroneCAN.md` and `docs/DroneCAN-Driver.md` in the INAV firmware repository.