# UAVCAN Development
This topic/section has information that is relevant to developers who want to add support for new UAVCAN (opens new window) hardware to the PX4 Autopilot.
Hardware > UAVCAN Peripherals contains information about using existing/supported UAVCAN components with PX4.
# Upgrading Node Firmware
The PX4 middleware will automatically upgrade firmware on UAVCAN nodes if the matching firmware is supplied. The process and requirements are described on the UAVCAN Firmware page.
# Debugging with Zubax Babel
They can also be used independently from Pixhawk hardware in order to test a node or manually control UAVCAN enabled ESCs.