I have worked with Cyphal on FMU - Pixhawk V5x and It looks ok. we use app called Yukon to check the message of Cyphal .Pixhawk V5x was responding so fast and show everything in Yukon Monitor.
But when i receive new FMU - Pixhawk V6xRT, tried to build Sourcecode in px4 github for V6xRT with cyphal - Cyphal not working. I found this link: Add Cyphal support for v6x and v6c by PonomarevDA · Pull Request #23488 · PX4/PX4-Autopilot · GitHub then try to fix this issue on 6xRT. Cyphal can work but it has troulble. when i connect V6xRT with Yukon. It was loading slowly - just one by one message occured in Yukon Monitor and awayls show “looking for registers…”
and after about 30 mins , it shows some messages but it’s not enough like in V5x.
i think this is the reason why my uav can fly on V5x with controlling via cyphal. But V6xRT can not.
Please help me on this issue.