UAVCAN v0 and standard CAN 2.0B on same network with Ardupilot

Hi Community,

I am new to UAVCAN / Cyphal. I have following doubt on CAN protocol compatibility with Cube Orange Autopilot (Ardupilot)

Can UAVCAN v0 devices and CAN2.0B devices be connected to same or different CAN ports of Ardupilot and Can both devices communicate satisfactorily with Cube Orange Autopilot (Ardupilot) simultaneously?

Thanks & Regards,

Best to ask at

Thanks… I have done that.