diff --git a/common/source/docs/common-am32-escs.rst b/common/source/docs/common-am32-escs.rst index 4161a5bce8..d5e2a9cc03 100644 --- a/common/source/docs/common-am32-escs.rst +++ b/common/source/docs/common-am32-escs.rst @@ -19,8 +19,13 @@ AM32 ESCs that support DroneCAN More ESCs may be found from the `AM32 targets.h `__ file (seach for _CAN) -ArduPilot Configuration -======================= +ArduPilot Connection and Configuration +====================================== + +The ESCs should be connected to the autopilot's CAN port. Below shows the ESCs connected to the autopilot's CAN1 port but CAN2 may also be used. + +.. image:: ../../../images/am32-autopilot-wiring.png + :width: 450px To enable communication with the AM32 ESCs using DroneCAN, set the following parameters: diff --git a/images/am32-autopilot-wiring.png b/images/am32-autopilot-wiring.png new file mode 100644 index 0000000000..1e9e9f02ea Binary files /dev/null and b/images/am32-autopilot-wiring.png differ