Both use CAN (11bit) and UAVCAN at the same time on the same port?

Hi there!
I am currently trying to connect the DistanceRange radar from Nanoradar model NRA24 for the PX4-Autopilot (STM32H7). This radar uses CAN 2.0A (11bit) for data transfer. Somewhere in the user manual I read: UAVCAN uses only CAN 2.0B frame format (29-bit identifiers). UAVCAN can share the same bus with other protocols based on CAN 2.0A (11-bit identifiers).
Therefore, I have two questions:

  1. Does this mean I can connect this radar to the same port as UAVCAN uses @pavel.kirienko ?
  2. How do I read CAN 2.0A (11bit) messages through the CANbus on the PX4 platform? Maybe there are examples?

Best regards.

  1. Yes.
  2. Please ask the PX4 maintainers.

Thank you, Pavel!