4.6:add DroneCAN temp sensor

Author: Hwurzburg

common/source/docs/common-temperature-sensor.rst

@@ -16,7 +16,9 @@ ArduPilot supports up to nine individual temperature sensors:
 .. image:: ../../../images/temperature-sensor.jpg
    :target: ../_images/temperature-sensor.jpg
 
-ArduPilot already has numerous possible sources for temperature reports: ESCs, Smart Batteries, Motor EFI and these independent sensors can be used to replace those device's temperature reports that already exist in ArduPilot. They can also just be logged.
+In addition, analog temperature monitors and DroneCAN based sensors can be used.
+
+ArduPilot already has numerous possible sources for temperature reports: ESCs, Smart Batteries, Motor EFI and these independent sensors can be used to replace those devices temperature reports which already exist in ArduPilot. They can also just be logged.
 
 I2C Sensor Setup
 ================
@@ -51,6 +53,18 @@ The output voltage vs temperature curve of the sensor can be adjusted to match i
 - :ref:`TEMP1_A3<TEMP1_A3>` = a3
 - :ref:`TEMP1_A4<TEMP1_A4>` = a4
 
+DroneCAN Setup
+==============
+
+Make sure the CAN port is setup. (example below for first CAN port using first driver):
+
+- :ref:`CAN_P1_DRIVER<CAN_P1_DRIVER>` = 1 (First driver)
+- :ref:`CAN_D1_PROTOCOL<CAN_D1_PROTOCOL>` = 1 (DroneCAN)
+
+Then set (examples shown for first sensor):
+
+- :ref:`TEMP1_TYPE<TEMP1_TYPE>` = 6 (DroneCAN)
+
 Logging
 =======