CAN Termination Resistance Software Toggle

Currently supported model and serial number

H-Flow
All version
DLVR Airspeed Sensor
19012001***; 19013001***; 19014001*** and later
PM08-CAN
15028001***; 15029001***; 15030001*** and later
DroneCAN M9N
12032002***
DroneCAN H-RTK F9P Helical
12037003***
DroneCAN RM3100
18088002***; 18089002***
H-RTK ZED-F9P Rover
12059002***

Ardupilot (Mission Planner) setup guide

Connect the DroneCAN peripheral to the CAN port on the flight controller
After establishing the connection to the flight controller on MissionPlanner, head to Setup->Optional Hardware->DroneCAN/UAVCAN. Click MAVlink-CAN1 if connected to the CAN1 port and MAVlink-CAN2 for the CAN2 port to scan CAN devices.
Find the appropriate device (Holybro products have HolybroG4 in the name), click menu->Parameters:

Find the CAN_TERMINATE command and you will see the value defaults to 0. Set CAN_TERMINATE to 1 to enable 120惟 termination resistance, and 0 to disable it

Click Write Params to save the configuration

PX4 (QGroundControl) setup guide

Make sure the parameters are set accordingly so the firmware can detect the CAN device
Navigate to Vehicle Setup->Parameters and click Standard to hide flight controller parameters:

If your CAN device is successfully detected, you will see a section labeled Components with numbers following it:

Expand the Component section, navigate to the CAN tab, and change the CAN_TERMINATE value to enable or disable termination resistance (120惟). Set to 1 to enable and 0 to disable.