Using Telega v1 with PX4-based flight controllers

Using Telega v1.0 with PX4-based flight controllers

This tutorial explains how to integrate a Telega based ESC with a PX4 flight controller.


It is expected that you are already familiar with PX4 and have set up a development environment according to the the official PX4 instruction. You are also expected to use the following software:

An example is based on a quadcopter with the following hardware:

  • CUAV V5+ autopilot,
  • 4 x Myxa,
  • USB-CAN sniffer (Babel or another) - for debugging and configuration.

At the moment of writing PX4 supports Cyphal only for fmu-v5.

Step 1. Build and load the autopilot firmware

At the time of writing, PX4 has separate build targets: for DroneCAN and Cyphal.

To build and upload the firmware you should explicitly specify cyphal in the make command. An example of build command: make px4_fmu-v5_cyphal upload.

Step 2. Configure autopilot parameters

Configuring the Cyphal PX4 Autopilot is similar to PWM or DroneCAN configurations. Basically, it requires the following steps:

  1. Select airframe
  2. Set up Actuators
  3. Calibrate sensors
  4. Set up radio and telemetry

Please, refer to the standard configuration PX4 docs for details.

The only difference is in the Actuators configuration step. You should select UAVCANv1 as shown on the picture below:

You can also check that the Cyphal-related parameters are correct.

PX4 Parameter Default value Description
CYPHAL_BAUD 1000000 but/s Cyphal/CAN bus bitrate
CYPHAL_ENABLE Enabled Whether to start Cyphal driver or not
CYPHAL_ID 1 Cyphal Node ID

All other Cyphal parameters can be configured using the Yakut or Yukon utilities.

Step 3. Update Telega firmware

If your Telega-based device doesn’t have any firmware, or it’s not up to date, follow the instructions on the Update the firmware page to update it.

Step 4. Connect everything together

Follow the Cyphal/CAN device interconnection guide for connection details.

Step 5. Plug and play with yakut

By default, your devices have no identifiers and operate in anonymous mode. You should perform the plug-and-play (PnP) node-ID allocation procedure. Follow the instructions on the Configure the Cyphal stack page.

Don’t forget to reboot the devices at the end.

Step 6. Configure the Cyphal network (registers) using Yukon

This step explains how to configure the port IDs and device parameters via the register interface.

The minimal Cyphal Quadcopter with Telega ESC network requires at least the following registers configuration:

On the Telega side:

  • mns.setpoint_index

On the PX4 autopilot side:


There are several ways how to configure the registers, but the most intuitive for beginners is to use Yukon.

Configure the Cyphal stack and run Yukon. Then open the Monitor window and you will see the following:

Select the port identifiers for the setpoint and readiness ports. According to the specification they should be in the range [0, 6143]. In the figure above, the setpoint port id is 2342 and readiness port id is 2343.

Assign a desired setpoint id in the PX4 udral.esc.0 port. This will create 2 publishers: setpoint with the corresponded id and readiness with setpoint id + 1.

Assign a desired setpoint and readiness identifiers to all ESCs.

Then open the Registers window and configure the mns.setpoint_index register according to the airframe.

Finally, it is a good idea to save the registers as a yaml file.

Step 7. Motors bench test

Continue with this step only if your propellers have been removed!

It is recommended that you test your motors with QGC Actuators prior to the actual flight test. USB-CAN sniffer is not required for this step.

Open the Actuators page in the Vehicle Setup window in QGC and try the sliders.

This step is necessary to check the following things:

  • The direction of rotation is correct. If it is not, it means that you have connected the motor incorrectly.
  • The setpoint indexes are correct. If it is not, go back to the previous step and change the corresponding register value.

An example of motors test is shown in the video below:

A video example will appear here soon!

If everything is in order, your vehicle is ready for the next step.

Step 8. Flight test

A video example will appear here soon!


Q1: My motors stops for a while from time to time

A1: Check that the value of the mns.deadman_timeout register is configured according to the Deadman timeout description. The default value of 0.5 seconds should be sufficient in most cases.

Q2: An autopilot node doesn’t appear in Yukon

A2: Check the value of the PX4 CYPHAL_ENABLE parameter. Try cyphal status in the MAVLink console to make sure the cyphal task is working properly.