next step in UAVCAN-izing my drone. I’ve added a AP_Mount_STorM32_UAVCAN class as well as the relevant code snippets in AP_UAVCAN to ArduCopter 3.6-dev, which enables controlling a STorM32 gimbal via UAVCAN. This is similar to controlling a STorM32 gimbal via MAVLink and a serial connection to a Pixhawk, which you might be familiar with, except that now the CAN bus is used, and UAVCAN as protocol.
The video below includes a short flight sequence demonstrating this in “real life”. That’s a demo of little practical relevance, but the control of course works also for all other situations which are covered by ArduPilot’s mounts (missions, POI, follow me, etc.).