Yakut monitor with a Babel

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.

  1. 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.

  2. 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 authors of the ESC service did not foresee that use case, you’re out of luck.

  3. v0 only supports CAN, which is being phased out in the industry. In five years every major medium- to the high-end vehicle will be heavily leveraging Ethernet.

  4. All existing implementations of v0 (both official and third-party) are seriously lacking in quality compared to v1, which might make them inadmissible in many systems where UAVCAN would be useful.

You may find more information on the differences here: UAVCAN 2019 roadmap

1 Like