# UAVCAN for Teensy 4.0

**URL:** <https://forum.opencyphal.org/t/uavcan-for-teensy-4-0/1556>\
**Category:** Applications & Usage\
**Created:** [December 29, 2021, 6:02pm UTC](https://forum.opencyphal.org/t/uavcan-for-teensy-4-0/1556 "2021-12-29T18:02:20Z")\
**Posts on this page:** 1\
**Showing post:** 29

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**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:** [January 6, 2022, 8:55pm UTC](https://forum.opencyphal.org/t/uavcan-for-teensy-4-0/1556/29 "2022-01-06T20:55:27Z")

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James is right. I wrote on choosing v0 vs. v1 here:

> [@Yakut monitor with a Babel](https://forum.opencyphal.org/t/yakut-monitor-with-a-babel/1514/7):
>
> If compatibility with ArduPilot is a requirement, then staying with v0 might be a wise decision. In all other scenarios, this would likely be a mistake. v0 is only suitable for highly centralized systems where there is only one actor responsible for the consumption of data from the bus and the issuance of imperatives to other nodes. v0 is only suitable for networks that match the rigid architectural patterns envisioned by the authors of its data types. E.g., if you have a quadplane and the…

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