# Introduction
Cyphal (opens new window)/DroneCAN (opens new window) (old name UAVCAN) nodes are devices primary based on CAN bus used by the PX4, ArduPilot and other projects as CAN peripherals devices.
This guide constains interface description, user manual and hardware specification for each developed devices.
Its recommended for all users to read getting started page.
# Autopilot compatibility
PX4. Check official PX4 documentation (opens new window) for getting the specific wire and settings instruction.
Ardupilot. Check official Ardupilot documentation (opens new window) for the getting specific wire and settings instruction.
# Existing devices
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 firmwares to the nodes and monitoring 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.
# 3. PWM-mini
PWM-mini is the CAN-PWM converter designed to control 1-4 ESC or servo. Since the node has a built-in DC-DC, a servo can be powered through it.
# 4. Airspeed
Airspeed is essential for fixed-wing UAV. It measures differential pressure that might be used for airspeed estimation.
# 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 status.
# 8. CAN-mux
CAN-mux helps easily connect your devices and organize 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 sophisticated board for controlling the internal combustion engine and starter.
# 11. [testing stage] PMU
PMU is power management unit for complex vehicles.
# 12. [dev stage] Charger
Charger allows to automatically charge a battery.
# 13. [dev stage] Fuel Tank
Fuel Tank is highly recommended for VTOL based on internal combustion engine. It estimates the current level and consumption of fuel.
# 14. [dev stage] Inclinometer
Inclinometer estimates his own orientation based on 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)).