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UAVCAN ESC/motor enumeration for Sub version of QGC?

I am interested in controlling some additional servos using UAVCAN instead of PWM. It seems there is support for enumerating ESCs on the Pixhawk’s UAVCAN bus in the Copter version of QGC (http://ardupilot.org/copter/docs/common-uavcan-setup-advanced.html), but not in the latest BR build.

Are there any plans to include better UAVCAN support? If not in QGC, can you point me to the relevant code in ArduSub that may be modified to enable UAVCAN control of servos?