# Introduction
Cyphal (opens new window)/DroneCAN (opens new window) (old name UAVCAN) nodes are devices primarily based on CAN bus, used by the PX4, ArduPilot and other projects as CAN peripheral devices.
This guide contains interface description, user manual and hardware specification for each developed device.
It is recommended that all users to read the Getting Started page.
# Autopilot Compatibility
PX4. Refer to the official PX4 documentation (opens new window) for getting the specific wiring and setup instructions.
Ardupilot. Check the official Ardupilot documentation (opens new window) for the specific wiring and setup instructions.
# Existing devices
The following devices are already well tested and are being used in real applications multiple times:
# 1. Programmer-Sniffer
Programmer sniffer is must-have device required for uploading firmware to the nodes and monitoring the CAN bus.
# 2. PWM-micro
PWM-micro is the smallest CAN-PWM converter designed to control 1 - 2 ESC or servo with an external power supply.
# 3. PWM-mini
PWM-mini is the CAN-PWM converter designed to control 1-4 ESCs or servos. As the node has a built-in DC-DC, a servo can be powered through it.
# 4. Airspeed
Airspeed is essential for fixed-wing UAVs. It measures differential pressure which can be used to estimate airspeed.
# 5. GPS-MAG-BARO
GPS-MAG-BARO is the node that has 3 devices: GPS, magnetometer and barometer.
# 6. Rangefinder
Rangefinder is used for precision landing.
# 7. UI-LEDS
UI-LEDS adds light to your UAV: use visible LEDs to indicate the current vehicle's status.
# 8. CAN-mux
CAN-mux helps you easily connect your devices and organise your onboard network.
| CAN-mux 1 | CAN-mux 2 | Power connector |
|---|---|---|
 |  |  |
# 9. [testing stage] WiFi Sniffer
WiFi Sniffer allows wireless CAN-bus monitoring via WiFi/UDP.
# 10. [testing stage] Internal Combustion Engine controller
Internal Combustion Engine controller is a sophisticated board for controlling the internal combustion engine and starter.
# 11. [testing stage] PMU
PMU is a power management unit for complex vehicles.
# 12. [dev stage] Charger
Charger allows you to charge a battery automatically.
# 13. [dev stage] Fuel Tank
Fuel Tank is highly recommended for internal combustion engine based VTOL. It estimates the current fuel level and consumption.
# 14. [dev stage] Inclinometer
Inclinometer estimates its own orientation using IMU sensors.
# 15. [testing stage] BMS
BMS is battery management system.
# 16. [dev stage] RPI Hat
RPI Hat is Raspberry PI SPI to CAN converter.
# 17. Autopilot
FMUv4 based Autopilot.
# 18. CAN wires
CAN wires: 4 wire for UCANPHY Micro (JST-GH 4) and 6 wire for (Molex 502585-0670 (opens new window)).