I think you will have better luck asking this on the ArduPilot support forum. Also, check out this article by OlliW: http://www.olliw.eu/2017/uavcan-for-hobbyists/ and Some UAVCAN hardware from jDrones
I think you will have better luck asking this on the ArduPilot support forum. Also, check out this article by OlliW: http://www.olliw.eu/2017/uavcan-for-hobbyists/ and Some UAVCAN hardware from jDrones