Any chance someone is working on Arduplane support for other GPS, Zubax specifically?
I know this post is quite old, but since it shows up in Google search I want to answer anyway. Support for UAVCAN sensors is available in the APM master since late 2014, see productforums.zubax.com/viewtopic.php?f=5&t=4. Since Zubax GNSS uses standard UAVCAN, any controller that supports required UAVCAN sensors can work with Zubax GNSS.