ESC using CAN2.0 protocol

I am doing a ground vehicle with PX4 autopilot. The ESC is Dji C610, which can send the RPM of motor to the controller. The communication protocol is CAN2.0. However, the PX4 autopilot just declare supporting UAVCAN protocol. I am wondering if the PX4 autopilot support ESC with CAN2.0, or how to modify?
Thanks in advance!