yes, I indeed did
the F103T8 I’m using in the nodes only has two UARTs. Thus, when you use the UartBridge firmware you’re offered only two uart channels, as this is also the number offered by e.g. a Gen.Purpose board.
the bluepill offers 3, and doing 3 would be a piece of cake, I can do up to 5 easily for e.g.a F103RC. But I concluded - and I think you said this yourself before - that the bluepill isn’t really what one wants to use extensively on our copters. One could however of course easily design a node pcb with a 103CB…
there is IMHO also a conceptional issue. If the idea is to use that as a sort of uart expander to equip the FC with more uarts, then using CAN and UAVCAN especially would in my opinion be nonsense (even though it’s possible). I could not imagine a UAVCAN node which could need more than two UARTs (I can’t even imagine one which would need two …)… so I actually wonder if what you call “avoidance node” is in fact a node in any proper CAN/UAVCAN sense.