# Cyphal/DroneCAN/PWM usage statistics **URL:** \ **Category:** General\ **Created:** [April 6, 2024, 7:56am UTC](https://forum.opencyphal.org/t/cyphal-dronecan-pwm-usage-statistics/2110 "2024-04-06T07:56:00Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![ParallelAmmeter](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/parallelammeter/32/1572_2.png) [@ParallelAmmeter](https://forum.opencyphal.org/u/ParallelAmmeter)\ **Post date:** [April 6, 2024, 7:56am UTC](https://forum.opencyphal.org/t/cyphal-dronecan-pwm-usage-statistics/2110/1 "2024-04-06T07:56:00Z")
I am currently working on a master’s thesis in which I am comparing the methods of controlling the motors of quadcopter. The main part of my thesis is about flying with PWM, DroneCAN and Cyphal. I need a statistic on how often Cyphal/DroneCAN/PWM is used in drones to control motors so I can include it in my literature review. If anyone has it, or can tell me where to find it, I would be very grateful. I expected to find few papers on Cyphal/old UAVCAN as they are more complicated to implement and most papers will be on PWM. As a result, it was funny that extensive literature reviews tried to assure me that there is only one way to control motors (via PWM) 😁 ---
**Author:** ![pavel.kirienko](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/pavel.kirienko/32/9_2.png) [@pavel.kirienko](https://forum.opencyphal.org/u/pavel.kirienko)\ **Post date:** [April 6, 2024, 12:57pm UTC](https://forum.opencyphal.org/t/cyphal-dronecan-pwm-usage-statistics/2110/2 "2024-04-06T12:57:21Z")
There’s no up-to-date data on this but back in 2019 we conducted a survey. That was before the DroneCAN/Cyphal split; both were known as UAVCAN back then. > [@UAVCAN survey 2019](https://forum.opencyphal.org/t/uavcan-survey-2019/683): > > If you are using UAVCAN or anything similar, this survey here is for you: On the differences between Cyphal and DroneCAN see [Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814) ---
**Author:** ![ParallelAmmeter](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/parallelammeter/32/1572_2.png) [@ParallelAmmeter](https://forum.opencyphal.org/u/ParallelAmmeter)\ **Post date:** [April 7, 2024, 1:01pm UTC](https://forum.opencyphal.org/t/cyphal-dronecan-pwm-usage-statistics/2110/3 "2024-04-07T13:01:05Z")
Thank you!