You are not the first to wander here by mistake.
The recent name change is intended to reduce the confusion you described. At the moment, there is no such thing as “UAVCAN” anymore. It has been forked into two independent projects:
- DroneCAN was formerly known as the legacy UAVCAN v0; it also incorporates UAVCAN v0.5 which has never seen widespread use.
- OpenCyphal was formerly known as UAVCAN v1.
Which software and tooling you need depends on which of these two protocols are used in your vehicles.
If you are truly working on DroneCAN You probably want to start at the official DroneCAN website
This being said, please consider
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. 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 which appears to be failing to gain the attention of the maintainers but one might hope to see it merged one day.
forum.opencyphal.org/t/new-to-uavcan-and-completely-confussed/1650/12