We should use Python. Libcanard has two problems here: 1. it supports only UAVCAN/CAN, whereas for Yukon it makes sense to rely on a more capable transport like UAVCAN/UDP. 2. Life is short, use Python.
Perhaps we should sit down and draft up basic requirements for the UAVCAN UI interface? Semi-related, you may want to consider joining our weekly call tomorrow if you prefer to discuss something in real-time: