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

**URL:** <https://forum.opencyphal.org/t/uavcan-v0-and-standard-can-2-0b-on-same-network-with-ardupilot/1914>\
**Category:** Applications & Usage\
**Created:** [June 20, 2023, 11:55am UTC](https://forum.opencyphal.org/t/uavcan-v0-and-standard-can-2-0b-on-same-network-with-ardupilot/1914 "2023-06-20T11:55:52Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![KJPR](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/a9a28c/32.png) [@KJPR](https://forum.opencyphal.org/u/KJPR)\
**Post date:** [June 20, 2023, 11:55am UTC](https://forum.opencyphal.org/t/uavcan-v0-and-standard-can-2-0b-on-same-network-with-ardupilot/1914/1 "2023-06-20T11:55:53Z")

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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,  
Prince

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**Author:** ![auturgy](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/auturgy/32/845_2.png) [@auturgy](https://forum.opencyphal.org/u/auturgy)\
**Post date:** [June 22, 2023, 2:11am UTC](https://forum.opencyphal.org/t/uavcan-v0-and-standard-can-2-0b-on-same-network-with-ardupilot/1914/2 "2023-06-22T02:11:46Z")

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Best to ask at [discuss.ArduPilot.org](http://discuss.ArduPilot.org)

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**Author:** ![KJPR](https://forum.opencyphal.org/letter_avatar_proxy/v4/letter/k/a9a28c/32.png) [@KJPR](https://forum.opencyphal.org/u/KJPR)\
**Post date:** [June 22, 2023, 3:48am UTC](https://forum.opencyphal.org/t/uavcan-v0-and-standard-can-2-0b-on-same-network-with-ardupilot/1914/3 "2023-06-22T03:48:41Z")

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Thanks… I have done that.