Overview

The DEFLT parameter group is specific to DroneCAN / AP_Periph firmware. It allows the user to reconfigure the "default" personality of a peripheral node without reflashing it.

Since the same hardware (e.g., a generic F4 board) can serve as a GPS node, an ESC node, or a Servo controller, this parameter tells the firmware which subsystems to initialize at boot.

Key Concepts

1. Personality Selection

A single AP_Periph binary might support multiple roles.

• GPS Node: Initializes UARTs for GPS.
• ESC Node: Initializes PWM outputs for motor control.
• Rangefinder Node: Initializes I2C/Serial for Lidar.

Parameter Breakdown

• DEFLT_MODE: Bitmask or Enum selecting the active drivers.

Integration Guide

• Usage: Usually set by the factory. If you are repurposing a generic CAN node, change this to match your connected sensors.

Developer Notes

• Library: Tools/AP_Periph