TBS Lucid DroneCAN PWM Board
by Team Black Sheep

The TBS Lucid DroneCAN PWM Board is a high-performance peripheral adapter designed to bridge the gap between modern DroneCAN (UAVCAN) architecture and traditional PWM or DShot hardware. Built on the robust ArduPilot AP_Periph firmware and powered by the STM32L431 MCU, this board allows pilots and engineers to convert standard servos and ESCs into smart DroneCAN devices. By offloading PWM generation to the Lucid board, users can simplify complex wiring looms, reduce electromagnetic interference (EMI) by utilizing the CAN bus for long-distance data transmission, and extend the output capabilities of their flight controllers.

Tailored for mission-critical applications, the TBS Lucid DroneCAN PWM Board is a vital tool for the sUAS manufacturing sector, government contractors, and university robotics labs. It supports up to 8 PWM/DShot outputs, enabling precise control over propulsion systems and auxiliary actuators. The board features dual daisy-chainable CAN ports for seamless integration into existing bus systems and a dedicated UART for ESC telemetry (DShot telemetry). Its compact mounting profile and industrial-grade operating temperature range make it suitable for both tactical defense platforms and high-stakes FPV racing rigs.

Specifications

• Microcontroller: STM32L431KCU6

• Firmware: ArduPilot AP_Periph

• Output Channels: 8x PWM Outputs (Supports DShot)

• Communication Protocol: DroneCAN / UAVCAN

• Input Voltage: 4.5V – 5.5V

• Telemetry Support: 1x UART (for DShot telemetry)

• Connectivity: Dual CAN ports (Daisy-chainable)

• Operating Temperature: -20°C to 80°C

• Status Indicators: Integrated LED indicators for Power and CAN Status

• Mounting: 35mm hole spacing

• Weight: ~3.5g

What is Included

• 1x TBS Lucid DroneCAN PWM Breakout Board

• 2x CANBUS Cables