Assuming you want the autopilot to make use of the CAN bus adaptor, you’ll need a suitable driver - either compiled into the firmware via a library in the HAL (Hardware Abstraction Layer), or implemented via a Lua script that the autopilot can run.
If you don’t need the autopilot to have access to it, and you’re able to find unused pins to connect it to, you can disable whatever autopilot functionality those pins are intended for[1] and set up your CAN bus driver via a BlueOS Extension.
There’s an old thread about Navigator CAN Bus support - it may be worth asking if those there have ended up working on it at all, or are willing to work with you to enable the functionality.
We (Blue Robotics) may be able to help with specific questions / blocking points, and you may also get some help via the broader ArduPilot community (e.g. asking on their forum, or their developer discord).
There are some notes on doing this with an unused serial port. ↩︎