base on previous post from @tridge Serial over DroneCAN support
using AP_Periph as Serial tunnel
I have create a example script using pydronecan that can do Guided mode control over CAN bus from companion computer
example script is in the PR link
using Copter-4.5.1 for testing
params setup(using SITL or Pixhawk)
CAN_P1_DRIVER 1.0 # First driver
CAN_D1_PROTOCOL 1.0 # DroneCAN
CAN_D1_UC_S1_BD 115200.0
CAN_D1_UC_S1_IDX 1.0 # Serial1
CAN_D1_UC_S1_NOD 88.0
CAN_D1_UC_S1_PRO 2.0 # MAVLink2
startup the script will route the tunnel data to a tcp connection
./examples/mavlink_tunnel.py --node-id 88 --tcp-host 'localhost' --tcp-port 5790 mcast:0
replace mcast:0 to the actual can intferfce ie. slcan0
in another terminal
mavproxy.py --master tcp:127.0.0.1:5790
or using any supported GCS