I think in the picture on the UAVCAN ESC (http://ardupilot.org/copter/_images/Pixhawk_UAVCAN_ESC.jpg) illustrating the daisy chain connection for UAVCAN ESC’s is wired wrong. Those look like Zubax Orel ESC’s and on all my UAVCAN devices, in the looking down orientation of that picture, 5v is on the left of the connector and ground on the right. Not the way it is shown. So it would be a good thing to fix so someone does not toast their UAVCAN system. In the case of Zubax ESC’s it does not matter because they do not pull power from the CANbus but other devices do.