Configuration / Getting Startet UAVCAN

Hello there,
I’m want to set up my UAVCAN Bus for my drone. I want to connect three Kotleta20 via UAVCAN and they should be connected to a servo. How do I get startet? Do I symply follow those steps from the PX4 Documentation? The only thing there is with actually propellers connected to esc’s but thats not the case for me? How do I upgrade my firmware? Or do I not need to do that?