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.
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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.
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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.
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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.
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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