iNavFlight · daijoubu · May 23, 2026 · May 28, 2026 · May 29, 2026 · May 29, 2026
diff --git a/cmake/stm32f7.cmake b/cmake/stm32f7.cmake
@@ -79,6 +79,7 @@ main_sources(STM32F7_SRC
     drivers/serial_uart_hal.c
     drivers/sdcard/sdmmc_sdio_hal.c
     drivers/dronecan/libcanard/canard_stm32f7xx_driver.c
+    drivers/dronecan/libcanard/canard_stm32_timing.c
 
 )
 

diff --git a/cmake/stm32h7.cmake b/cmake/stm32h7.cmake
@@ -163,6 +163,7 @@ main_sources(STM32H7_SRC
     drivers/sdio.h
     drivers/sdcard/sdmmc_sdio_hal.c
     drivers/dronecan/libcanard/canard_stm32h7xx_driver.c
+    drivers/dronecan/libcanard/canard_stm32_timing.c
 
 )
 

diff --git a/docs/DroneCAN-Driver.md b/docs/DroneCAN-Driver.md
@@ -1,8 +1,8 @@
 # DroneCAN Driver Documentation
 
-**Last Updated:** 2026-02-16
+**Last Updated:** 2026-06-06
 **Status:** Complete
-**Branch:** feature-dronecan-sitl
+**Branch:** feature/dronecan-dna-server
 
 ---
 
@@ -115,6 +115,7 @@ CAN Bus ──[CAN interrupt]──> canardSTM32Receive() ──> shouldAcceptTr
 | `UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID` | `handle_GNSSRCTMStream()` | RTCM Stream | Broadcast | Variable | RTK correction data |
 | `UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID` | `handle_BatteryInfo()` | Battery Info | Broadcast | 1-10 Hz | Integrated with battery system |
 | `UAVCAN_PROTOCOL_GETNODEINFO_ID` | `handle_GetNodeInfo()` | GetNodeInfo | Request/Response | On demand | Responds with FC firmware version |
+| `UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID` | `dronecanDnaHandleAllocation()` | Dynamic Node Allocation | Broadcast | On connect | Assigns node IDs to anonymous peripherals via 3-stage UID handshake |
 
 ### Handler-Based Architecture
 
@@ -282,15 +283,9 @@ The driver uses the following settings from `settings.yaml`:
 
 | Setting | Description | Type | Valid Range | Default |
 |---|---|---|---|---|
-| `dronecan_mode` | Enable/disable DroneCAN | bool | 0/1 | 0 |
-| `dronecan_node_id` | This FC's CAN node ID | uint8 | 1-125 | 0 |
-| `dronecan_baudrate` | CAN bus bitrate | enum | 0-3 | 2 (500kbps) |
-
-**Bitrate Mapping:**
-- 0 = 125 kbps
-- 1 = 250 kbps
-- 2 = 500 kbps (default)
-- 3 = 1000 kbps
+| `dronecan_node_id` | This FC's CAN node ID | uint8 | 1–127 | 1 |
+| `dronecan_bitrate_kbps` | CAN bus bitrate in kbps | enum | 125, 250, 500, 1000 | 1000 |
+| `dronecan_use_dna_server` | Enable automatic node ID assignment | bool | ON/OFF | ON |
 
 #### Accessing Configuration
 
@@ -549,6 +544,67 @@ Total: 1 + nodeCount × 30 bytes.
 
 ---
 
+## DNA Server
+
+The DNA server (`dronecan_dna_server.c`) implements a non-redundant (single-master) Dynamic Node Allocation allocator per UAVCAN Specification §6.4.9. It is guarded by `dronecanConfig()->dronecanUseDNAServer` and can be disabled via `set dronecan_use_dna_server = OFF`.
+
+### Three-stage handshake
+
+A peripheral that has no node ID broadcasts anonymous Allocation messages carrying up to 6 bytes of its 16-byte hardware unique ID per stage:
+
+| Stage | `first_part_of_unique_id` | Bytes sent |
+|-------|--------------------------|------------|
+| 1 | `true` | bytes 0–5 (+ optional preferred node ID) |
+| 2 | `false` | bytes 6–11 |
+| 3 | `false` | bytes 12–15 |
+
+Each stage must arrive within 500 ms (`FOLLOWUP_TIMEOUT_MS`) of the previous one, or the accumulator resets and the peripheral must start over from Stage 1.
+
+A transport capable of a larger single frame (e.g. CAN-FD) may instead send the full 16-byte UID in one message with `first_part_of_unique_id = true` and `unique_id.len = 16`; the server accepts this as Stage 1 and completes the allocation immediately without waiting for Stage 2/3.
+
+After the full 16-byte UID has been assembled — whether over three stages or in one single-frame message — the server calls `dnaLookupOrAssignNode()`.
+
+### Node ID assignment
+
+`dnaLookupOrAssignNode()` applies the following priority order:
+
+1. **Existing entry** — if the UID is already in the allocation table and the stored node ID isn't currently claimed by another live node, return the previously assigned node ID. If it *is* claimed by someone else, fall through to reassignment below.
+2. **Preferred ID** — if the peripheral included a preferred node ID in Stage 1 (range 1–125; 126–127 are reserved for network maintenance tools), search upward from that ID first, then downward from `preferred - 1`, assigning the first available ID found either way.
+3. **Top-down fallback** — if there's no preference, or the preferred-ID search found nothing free, scan from node ID 125 downward and assign the first available ID.
+
+The FC's own node ID is never assigned to a peripheral. If all 32 table slots are full and no existing entry matches, the allocation fails silently.
+
+### Allocation table persistence
+
+The allocation table (`dnaServerData_t`) is stored in a Parameter Group (`PG_DRONECAN_DNA_SERVER`) backed by flash. A new entry calls `saveConfig()` (deferred, silent, only while disarmed) so the same peripheral receives the same node ID on every boot without re-negotiating.
+
+The table holds up to `DRONECAN_MAX_NODES` (32) entries, each storing:
+
+```c
+typedef struct {
+    uint8_t uniqueId[16];   // Full 16-byte hardware UID
+    uint8_t nodeId;         // Assigned CAN node ID (1-127)
+} dnaAllocationEntry_t;
+```
+
+### Entry point
+
+`dronecanDnaHandleAllocation()` is called from `onTransferReceived()` when a `UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID` broadcast arrives, but only while `dronecanUseDNAServer` is true:
+
+```c
+case UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID:
+    if (dronecanConfig()->dronecanUseDNAServer) {
+        dronecanDnaHandleAllocation(ins, transfer);
+    }
+    break;
+```
+
+### Unit tests
+
+Sixteen tests in `src/test/unit/dronecan_dna_server_unittest.cc` cover the full handshake, UID re-use, table-full rejection, non-broadcast source rejection, stage ordering, timeout reset, FC node ID exclusion, preferred node ID honouring, top-down sequential assignment, reserved-range and taken-preferred-ID fallback, live-network reassignment of a stored ID, single-frame (e.g. CAN-FD) full-UID delivery, and rejection of a malformed 4-byte stage-1 message without poisoning a legitimate follow-up handshake (DNA-1 through DNA-16).
+
+---
+
 ## Adding New Message Types
 
 To add support for a new DroneCAN message type:
@@ -909,6 +965,7 @@ void broadcastNodeStatus(void) {
 
 | Date | Version | Changes |
 |---|---|---|
+| 2026-06-06 | 1.3 | Added DNA server section; corrected settings table (`dronecan_bitrate_kbps`, `dronecan_use_dna_server`); added DNA allocation to message type table |
 | 2026-04-30 | 1.2 | Added node table (`dronecanNodeInfo_t`), accessor functions, CLI status output, and MSP commands (0x2042/0x2043) |
 | 2026-02-18 | 1.1 | Added error recovery, graceful disable behavior, and safe initialization documentation |
 | 2026-02-16 | 1.0 | Initial version - handler-based architecture documentation |

diff --git a/docs/DroneCAN.md b/docs/DroneCAN.md
@@ -11,7 +11,7 @@ DroneCAN (formerly UAVCAN v0) is a lightweight protocol designed for reliable co
 | Battery Current | Supported | Current sensing from DroneCAN battery monitors |
 | Parameter Get/Set | Planned | Remote parameter configuration |
 | ESC Control | Planned | Motor control via DroneCAN ESCs |
-| Dynamic Node Assignment | Planned | Manage node IDs dynamically to minimize first time configuration |
+| Dynamic Node Assignment | Supported | Automatically assign CAN node IDs to plug-and-play DroneCAN peripherals |
 
 ## Supported Hardware
 
@@ -38,10 +38,11 @@ save
 
 | Setting | Values | Default | Description |
 |---------|--------|---------|-------------|
-| `dronecan_node_id` | 1-127 | 10 | CAN node ID for the flight controller |
-| `dronecan_bitrate` | 125KBPS, 250KBPS, 500KBPS, 1000KBPS | 1000KBPS | CAN bus bitrate |
+| `dronecan_node_id` | 1-127 | 1 | CAN node ID for the flight controller |
+| `dronecan_bitrate_kbps` | 125, 250, 500, 1000 | 1000 | CAN bus bitrate in kbps |
+| `dronecan_use_dna_server` | ON, OFF | ON | Enable automatic node ID assignment for plug-and-play peripherals |
 
-All peripherals need to have the node ID and the bitrate set manually through the dronecan_gui for now.  You can use your flight controller as a CAN interface by loading an Ardupilot image on it.  Once the set up is complete, you can reflash it to Inav.
+With `dronecan_use_dna_server = ON` (the default), peripherals that support Dynamic Node Allocation and have their node ID set to 0 (anonymous/unset) negotiate their node IDs automatically at power-up. Only the CAN bitrate needs to match across the bus. Peripherals that do not support DNA, or that already have a static node ID configured, will not send Allocation requests and must have their node ID set manually via a tool such as dronecan_gui. You can use your flight controller as a CAN interface by loading an ArduPilot image on it; once configuration is complete, reflash to INAV.
 
 ### GPS via DroneCAN
 
@@ -154,24 +155,28 @@ Setting up multiple DroneCAN peripherals on a single CAN bus:
 
 ```
 # Flight Controller Configuration
-set dronecan_node_id = 10           # Flight controller = node 10
-set dronecan_bitrate = 1000KBPS
+set dronecan_node_id = 1            # Flight controller = node 1
+set dronecan_bitrate_kbps = 1000
+set dronecan_use_dna_server = ON    # Enable plug-and-play node assignment (default)
 
-# Configure GPS (from node 1)
+# Configure GPS
 set gps_provider = DRONECAN
 
-# Configure battery monitor (from node 2)
+# Configure battery monitor
 set bat_voltage_src = CAN
 feature CURRENT_METER
 set current_meter_type = CAN
 
 save
 ```
 
-**Peripheral Configuration (using dronecan_gui or similar tool):**
-- **GPS Receiver:** Node ID = 1, Bitrate = 1000 KBPS
-- **Battery Monitor:** Node ID = 2, Bitrate = 1000 KBPS
-- **Potential Future Peripheral:** Node ID = 3, etc.
+**Peripheral Configuration:**
+
+With `dronecan_use_dna_server = ON`, peripherals that support Dynamic Node Allocation negotiate their node IDs automatically — no manual per-device configuration needed. Just set the CAN bitrate to match on every device.
+
+For peripherals that do not support DNA, use dronecan_gui to assign a static node ID:
+- **GPS Receiver:** Node ID = 2, Bitrate = 1000 KBPS
+- **Battery Monitor:** Node ID = 3, Bitrate = 1000 KBPS
 
 **CAN Bus Layout:**
 ```
@@ -295,6 +300,40 @@ bat_voltage_src = CAN
 current_meter_type = CAN
 ```
 
+## Dynamic Node Allocation (Plug and Play)
+
+DroneCAN supports a three-stage handshake protocol (defined in UAVCAN Specification §6.4.9) that lets peripherals negotiate a unique node ID at power-up without any manual configuration. INAV implements a non-redundant (single-master) DNA server.
+
+### How it works
+
+1. The peripheral powers on without a node ID (anonymous mode).
+2. It broadcasts an Allocation request containing the first 6 bytes of its 16-byte hardware unique ID, optionally including a preferred node ID.
+3. INAV responds with an echo of the bytes received so far, prompting the peripheral to send the next 6 bytes.
+4. After three stages (6 + 6 + 4 bytes), INAV has the full UID and assigns a node ID.
+5. INAV stores the UID→node ID mapping in flash so the same peripheral receives the same ID on every power cycle.
+
+All three stages must arrive within 500 ms of each other, or the handshake resets.
+
+### Preferred node IDs
+
+A peripheral may include a preferred node ID in its Stage 1 request. INAV honours the request if the ID is in the valid range (1–127) and not already assigned. If the requested ID is unavailable, INAV falls back to the next free ID in sequence.
+
+### Allocation table
+
+INAV stores up to 32 UID→node ID mappings in persistent flash storage. The table survives power cycles, so peripherals receive consistent node IDs across reboots. The table is managed automatically and is not directly user-configurable.
+
+The flight controller's own node ID is never assigned to a peripheral.
+
+### Enabling / disabling
+
+```
+set dronecan_use_dna_server = ON    # default — plug-and-play enabled
+set dronecan_use_dna_server = OFF   # static node IDs only
+save
+```
+
+---
+
 ## Hardware Setup
 
 ### Wiring

diff --git a/docs/Settings.md b/docs/Settings.md
@@ -882,6 +882,16 @@ Re-purpose the craft name field for messages.
 
 ---
 
+### dronecan_battery_id
+
+Only accept BatteryInfo messages whose battery_id field (battery slot) matches this value. Every value 0-255 is a valid battery_id on the wire, so there is no wildcard; the default (0) matches the conventional primary-battery ID used by most peripherals.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 255 |
+
+---
+
 ### dronecan_bitrate_kbps
 
 The speed of the CANbus network in kbps. Set all devices to the same speed. 
@@ -895,6 +905,16 @@ The speed of the CANbus network in kbps. Set all devices to the same speed.
 
 ---
 
+### dronecan_gps_node_id
+
+Filter GPS messages by source Node ID. 0 = use any node.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 0 | 0 | 127 |
+
+---
+
 ### dronecan_node_id
 
 Unique identifier for this device. Valid values are 1 to 127. 126 and 127 are reserved for diagnostic tools.
@@ -905,6 +925,16 @@ Unique identifier for this device. Valid values are 1 to 127. 126 and 127 are re
 
 ---
 
+### dronecan_use_dna_server
+
+Enable the DNA server to manage plug and play dronecan devices
+
+| Default | Min | Max |
+| --- | --- | --- |
+| ON | OFF | ON |
+
+---
+
 ### dshot_beeper_enabled
 
 Whether using DShot motors as beepers is enabled

diff --git a/docs/development/msp/README.md b/docs/development/msp/README.md
@@ -418,7 +418,8 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
 [8256 - MSP2_INAV_ESC_RPM](#msp2_inav_esc_rpm)  
 [8257 - MSP2_INAV_ESC_TELEM](#msp2_inav_esc_telem)  
 [8258 - MSP2_INAV_DRONECAN_NODES](#msp2_inav_dronecan_nodes)  
-[8259 - MSP2_INAV_DRONECAN_NODE_INFO](#msp2_inav_dronecan_node_info)  
+[8259 - MSP2_INAV_DRONECAN_ASYNC_REQUEST](#msp2_inav_dronecan_async_request)  
+[8260 - MSP2_INAV_DRONECAN_ASYNC_RESULT](#msp2_inav_dronecan_async_result)  
 [8264 - MSP2_INAV_LED_STRIP_CONFIG_EX](#msp2_inav_led_strip_config_ex)  
 [8265 - MSP2_INAV_SET_LED_STRIP_CONFIG_EX](#msp2_inav_set_led_strip_config_ex)  
 [8266 - MSP2_INAV_FW_APPROACH](#msp2_inav_fw_approach)  
@@ -4165,34 +4166,49 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
 **Request Payload:** **None**  
 
 **Reply Payload:**
-|Field|C Type|Size (Bytes)|Description|
-|---|---|---|---|
-| `nodeCount` | `uint8_t` | 1 | Number of detected DroneCAN nodes |
-| `nodeData` | `dronecanNodeStatus_t[]` | array | Array of per-node status records, one per detected node. Each record: nodeID(1)+health(1)+mode(1)+last_seen_ms(4) = 7 bytes. Full detail available via MSP2_INAV_DRONECAN_NODE_INFO. |
+|Field|C Type|Size (Bytes)|Units|Description|
+|---|---|---|---|---|
+| `nodeCount` | `uint8_t` | 1 | - | Number of detected DroneCAN nodes |
+| `nodeID` | `uint8_t[]` | array | - | [per node] DroneCAN node ID (1-127) |
+| `health` | `uint8_t` | 1 | - | [per node] Node health: 0=OK, 1=WARNING, 2=ERROR, 3=CRITICAL |
+| `mode` | `uint8_t` | 1 | - | [per node] Node mode: 0=OPERATIONAL, 1=INITIALIZATION, 2=MAINTENANCE, 3=SOFTWARE_UPDATE, 7=OFFLINE |
+| `last_seen_ms` | `uint32_t` | 4 | ms | [per node] Milliseconds since this node was last seen (FC-local timestamp delta) |
+| `uptime_sec` | `uint32_t` | 4 | s | [per node] Node uptime in seconds (from NodeStatus broadcast) |
+| `vendor_status_code` | `uint16_t` | 2 | - | [per node] Vendor-specific status code |
 
-**Notes:** Requires `USE_DRONECAN`. Response is `nodeCount` followed by `nodeCount` records of 7 bytes each: nodeID(1)+health(1)+mode(1)+last_seen_ms(4). Maximum payload 1 + (DRONECAN_MAX_NODES * 7) = 225 bytes. Full node detail including uptime, vendor status, and name is available via MSP2_INAV_DRONECAN_NODE_INFO.
+**Notes:** Requires `USE_DRONECAN`. Response is `nodeCount` followed by `nodeCount` records of 13 bytes each: nodeID(1)+health(1)+mode(1)+last_seen_ms(4)+uptime_sec(4)+vendor_status_code(2). Maximum payload 1 + (DRONECAN_MAX_NODES * 13) = 417 bytes. For full node detail (name, SW/HW version, unique ID) use MSP2_INAV_DRONECAN_ASYNC_REQUEST with service_id=DRONECAN_SERVICE_GETNODEINFO(1).
 
-## <a id="msp2_inav_dronecan_node_info"></a>`MSP2_INAV_DRONECAN_NODE_INFO (8259 / 0x2043)`
-**Description:** Returns full status detail for a single DroneCAN node by ID.  
+## <a id="msp2_inav_dronecan_async_request"></a>`MSP2_INAV_DRONECAN_ASYNC_REQUEST (8259 / 0x2043)`
+**Description:** Initiates an asynchronous DroneCAN service request (GetNodeInfo, ParamGetSet, ExecuteOpcode, RestartNode) to a specific node. Result retrieved via MSP2_INAV_DRONECAN_ASYNC_RESULT.  
 
 **Request Payload:**
 |Field|C Type|Size (Bytes)|Description|
 |---|---|---|---|
-| `nodeID` | `uint8_t` | 1 | DroneCAN node ID to query (1-127) |
+| `service_id` | `uint16_t` | 2 | Service to invoke: 1=GETNODEINFO, 5=RESTART_NODE, 10=EXECUTE_OPCODE, 11=PARAM_GETSET. Transmitted as u16 for MSP alignment; only low 8 bits used. |
+| `nodeID` | `uint8_t` | 1 | Target DroneCAN node ID (1-127) |
 
 **Reply Payload:**
-|Field|C Type|Size (Bytes)|Units|Description|
-|---|---|---|---|---|
-| `nodeID` | `uint8_t` | 1 | - | DroneCAN node ID |
-| `health` | `uint8_t` | 1 | - | Node health: 0=OK, 1=WARNING, 2=ERROR, 3=CRITICAL |
-| `mode` | `uint8_t` | 1 | - | Node mode: 0=OPERATIONAL, 1=INITIALIZATION, 2=MAINTENANCE, 3=SOFTWARE_UPDATE, 7=OFFLINE |
-| `uptime_sec` | `uint32_t` | 4 | s | Node uptime in seconds |
-| `vendor_status_code` | `uint16_t` | 2 | - | Vendor-specific status code |
-| `last_seen_ms` | `uint32_t` | 4 | ms | FC millisecond timestamp when this node was last seen |
-| `name_len` | `uint8_t` | 1 | - | Length of node name string (0 if unknown) |
-| `name` | `char[32]` | 32 | - | Node name up to 32 bytes, zero-padded |
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `accepted` | `uint8_t` | 1 | 0=request accepted; 1=busy (slot in use) or unrecognised service_id; 0xFF=bus not in STATE_DRONECAN_NORMAL (not ready) |
+| `seq` | `uint8_t` | 1 | Sequence number; correlate with MSP2_INAV_DRONECAN_ASYNC_RESULT to verify the result belongs to this request |
+
+**Notes:** Requires `USE_DRONECAN`. Initiates an async DroneCAN service request; poll MSP2_INAV_DRONECAN_ASYNC_RESULT at ~100ms intervals until state=READY(2) or ERROR(3). Only one request in-flight at a time. Service-specific request fields follow the common header in the request payload: EXECUTE_OPCODE appends opcode(u8); PARAM_GETSET appends index(u16)+is_write(u8) and optionally value_type(u8)+value(variable) for writes, then req_name_len(u8)+req_name(bytes) for named lookup. Param value encoding: INT=lo(u32)+hi(u32), FLOAT=raw(u32), BOOL=u8, STRING=len(u8)+data. Requests time out after DRONECAN_ASYNC_TIMEOUT_MS (2000ms). If bus is not in STATE_DRONECAN_NORMAL, returns accepted=0xFF without dispatching.
+
+## <a id="msp2_inav_dronecan_async_result"></a>`MSP2_INAV_DRONECAN_ASYNC_RESULT (8260 / 0x2044)`
+**Description:** Polls the result of the most recent MSP2_INAV_DRONECAN_ASYNC_REQUEST. Poll at ~100ms intervals until state is READY(2) or ERROR(3).  
+
+**Request Payload:** **None**  
+
+**Reply Payload:**
+|Field|C Type|Size (Bytes)|Description|
+|---|---|---|---|
+| `state` | `uint8_t` | 1 | Async slot state: 0=IDLE, 1=PENDING, 2=READY, 3=ERROR |
+| `seq` | `uint8_t` | 1 | Sequence number matching the originating MSP2_INAV_DRONECAN_ASYNC_REQUEST reply |
+| `service_id` | `uint16_t` | 2 | Service ID of the in-flight or just-completed request |
+| `node_id` | `uint8_t` | 1 | Node ID of the target |
 
-**Notes:** Requires `USE_DRONECAN`. Returns `MSP_RESULT_ERROR` if the requested node ID is not in the node table.
+**Notes:** Requires `USE_DRONECAN`. When state=READY(2), service-specific result fields follow the 5-byte common header. GETNODEINFO: name_len(u8)+name(bytes)+sw_major(u8)+sw_minor(u8)+sw_optional_field_flags(u8)+sw_vcs_commit(u32)+hw_major(u8)+hw_minor(u8)+hw_unique_id(u8[16]). PARAM_GETSET: name_len(u8)+name(bytes)+type(u8)+value(variable)+min_type(u8)+min(variable)+max_type(u8)+max(variable); value/min/max encoding: INT=lo(u32)+hi(u32), FLOAT=raw(u32), BOOL=u8, STRING=len(u8)+data; EMPTY(0) min/max type means no bound is present. EXECUTE_OPCODE and RESTART_NODE: ok(u8) where 1=success. Reading result when state=READY transitions slot back to IDLE.
 
 ## <a id="msp2_inav_led_strip_config_ex"></a>`MSP2_INAV_LED_STRIP_CONFIG_EX (8264 / 0x2048)`
 **Description:** Retrieves the full configuration for each LED on the strip using the `ledConfig_t` structure. Supersedes `MSP_LED_STRIP_CONFIG`.