In the follow-up to my Intro to UAVCAN, I went over the basic concept of why UAVCAN is important in UAS applications. In this video, I use an MRO F303 CAN node and connect a Tfmini Plus LiDAR sensor to the CAN node. I then connect the CAN node to my flight controller (an NXP FMUK66) which reads in the distance sensor readings as a rangefinder instance. The readings are fed into the EKF2 for range aid (limited to take-off and land and hover).

See my previous video for the setup of parameters on the PX4 side through QGroundcontrol