DroneCAN ESCs PX4 supports DroneCAN compliant ESCs. For more information, see the following articles for specific hardware/firmware: PX4 Sapog ESC Firmware Zubax Orel 20/21 Holybro Kotleta 20 Zubax Telega Vertiq (larger modules) VESC Project RaccoonLab Cyphal and DroneCAN PWM nodes