▼detailed protocol specification
▼DSDL message description language for message description
▼DNA (dynamic node allocation) for assignment of CAN node IDs
▼multiple open DSDL compilers that produce C and C++ bindings
▼rich python implementation
▼feature rich graphical user interface for diagnostics and device configuration
▼mature implementations in ArduPilot and PX4 autopilots
▼AP_Periph and PX4 cannode toolkits for easy creation of feature rich peripherals