CAN2.0 interfacing with pixhawk

Hi I am Developing a ESC( Motor controller ) which is having CAN2.0 interface and PWM input. i want to make the CAN Communication between ESC and Flight controller. the flight controller i am using is pixhawk 2.4.8. what is the CAN ID i have to use while sharing the message from ESC and What is the data format i have to use. also please what is the configuration i have to use in the mission planner.
please help me to communicate with this flight controller from my ESC.

Any luck with this? I am interfacing a sensor with pixhawk (running Ardupilot) and am trying to figure out how to structure the message and then serialize it. We are running nodejs so have to do all that ourselves.