Pixhawk 4 connect to EPOS4 Positioning Controller

Hey there,

I have a “Pixhawk 4” and some “Maxon” motors which I would like to control with the “EPOS4 Positioning Controller”.
On te Pixhawk 4 I’m running Ardurover 4
The controller has a rs232, USB 2.0/3.0 and a CAN interface.
Ardurover doesn’t suport OpenCAN yet. So my question is:
How to connect the controller?
To connect over the rs232 do I need a converter-board?

Thx Giuseppe

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