I have had great success. May I provide the links to my articles about my exploration with CANbus. I think it is very advantageous. It is simpler, more reliable and has uniform connectors and cables to all devices. Canbus is still not finished with Arducopter in a released firmware.
Good Luck
https://www.rcgroups.com/forums/showthread.php?2987934-The-cleanest-simplest-Arducopter-build-ever
https://www.rcgroups.com/forums/showthread.php?2869828-Uavcan-for-Hobbyists
https://www.rcgroups.com/forums/showthread.php?2971848-The-Holy-Grail-of-DIY-QUADS-FrankenSolo