I have a CUAV X7 pro + autopilot. I am using MissionPlanner from Ardupilot and also I have access to QGround Control. I have now connected a FUTABA BLA21 12U AB2 servo for 12V connected on M1 of the autopilot. There I managed to send PWM Commands to the servo and move it accordingly using the Servo Output interface of MissinonPlanner on Alieron function. The servo has also the ability to be controled with UAVCAN communication. Im using MAVLINKCAN2 protocol. In the DRONECAN/UAVCAN part I have managed to recognise the servo in the ID 127.. I am getting feedback of the potition and all the data of the servo from the MAVLink inspector but I m not able to send any data to the servo. I am trying to find a way to use CAN communication to the servo so I can test that its working. I am not sure if I am supposed to use the ServoOutput interface part that I used in order to move the servo through PWM. And if I need to use this interface I am not sure which function I should choose and which servo. I have been playing back and forth with a lot of the parameters but I havent managed to reach to a point that the servo is moving. I am able to arm the autopilot and make the tests armed as well.
Any help or confirmation of the correct actuator mapping procedure for DroneCAN servos would be greatly appreciated 
. Let me know if you need any clarification!!
Thank you!
You need to set the bitmask to tell the FC to send servo commands over CAN. Other than that you configure servos as if they were on a regular channel.
I have already tested it with the CAN_D1_UC_SRV_BM parameter but didnt have any result.