CAN with PX4

right now I’m doing Research on CAN. I want to “steer” my Servos via CAN-Bus. How would that work? Do I have to send special Signals from the PX4 to the CAN-Controllers (Kotleta20), which are the interface/connection for the PWM Servos. So would I have to change something in the Firmware? And do I use a jstgh-cabel for CAN?
Thank you in advance :slight_smile:

can you use commander ( uavcan status)

I think so. I used it in the simlulation.