# New to UAVCAN and completely CONFUSSED **URL:** \ **Category:** Applications & Usage\ **Created:** [April 22, 2022, 10:45pm UTC](https://forum.opencyphal.org/t/new-to-uavcan-and-completely-confussed/1650 "2022-04-22T22:45:34Z")\ **Posts on this page:** 1\ **Showing post:** 12
**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:** [June 10, 2022, 1:30pm UTC](https://forum.opencyphal.org/t/new-to-uavcan-and-completely-confussed/1650/12 "2022-06-10T13:30:13Z")
Building any non-trivial system based on DroneCAN today would be a mistake unless you strongly require compatibility with legacy hardware out there. This is because of its inherent architectural limitations, which are covered in the Guide. I am fairly confident saying this since I was more involved in the architecting and designing of both DroneCAN and Cyphal than anybody else. Cyphal/CAN is already [supported in PX4](https://github.com/PX4/PX4-Autopilot/tree/master/src/drivers/cyphal). Although the support might be considered somewhat minimal, it should be easy to extend since the hard part is already done (mostly by @PetervdPerk, @JacobCrabill, and others). Cyphal/CAN is minimally supported in a fork of ArduPilot. There is an [upstream pull request](https://github.com/ArduPilot/ardupilot/pull/20408) which appears to be failing to gain the attention of the maintainers but one might hope to see it merged one day. --- _[View the full topic](https://forum.opencyphal.org/t/new-to-uavcan-and-completely-confussed/1650)._