This write-up explains the key differences between Cyphal and its predecessor DroneCAN (formerly UAVCAN). tl;dr: Cyphal is like DDS, DroneCAN is like I2C.
This write-up explains the key differences between Cyphal and its predecessor DroneCAN (formerly UAVCAN). tl;dr: Cyphal is like DDS, DroneCAN is like I2C.