Connect the 4 pin CAN cable connector to CAN1 or CAN2 port on the flight controller.
Power the flight controller and connect it to Mission Planner. Go to "Config/Tuning > Full Parameter List" and modify the following parameters:
CAN_D1_PROTOCOL: 1 set virtual driver of CAN1 to DRONECAN
CAN_D2_PROTOCOL: 1 set virtual driver of CAN 2 to DRONECAN
CAN_P1_DRIVER: 1 set this parameter to enable CAN 1 bus
CAN_P2_DRIVER: 1 set this parameter to enable CAN 2 bus
GPS_TYPE: 9 set the communication protal type of GPS 1 to DRONECAN
NTF_LED_TYPES: 231 Set to DRONECAN for LED type
There is no external safety switch. Set BRD_SAFETYENABLE as 0 to disable safety switch, or connect an physical external safety switch
Click "Write Params" when done. CAN functions will be available after rebooting the flight controller.

Using two DroneCAN GPS

As the document is written锛孴he firmware used for flight control is ArduCopter 4.1.5, which automatically allocate 2 node ID for the GPSs锛寉ou can perform following operation directly.
Connect two CAN cable to the CAN1 and CAN 2 port of the flight controller
Power up flight controller and connect to Mission Planner. Go to "Config/Tuning > Full Parameter List" and modify the following parameters:
CAN_D1_PROTOCOL: 1 set virtual driver of CAN1 to DRONECAN
CAN_D2_PROTOCOL: 1 set virtual driver of CAN 2 to DRONECAN
CAN_P1_DRIVER: 1 set this parameter to enable CAN 1 bus
CAN_P2_DRIVER: 1 set this parameter to enable CAN 2 bus
GPS_TYPE: 9 set the communication protocol type of GPS 1 to DRONECAN
GPS_TYPE2锛? set the communication protocol type of GPS 2 to DRONECAN
NTF_LED_TYPES: 231 Set to DRONECAN for LED type
There is no external safety switch on the DroneCAN GPS. You can set BRD_SAFETYENABLE to 0 to disable safety switch, or connect an physical external safety switch
Click "Write Params" when done. CAN functions will be available after rebooting the flight controller.

Using PX4 firmware

Load PX4 firmware into the autopilot. Connect the 4pin CAN connector from the DroneCAN GPS to CAN1 or CAN2 port on flight control.
Connect to the flight control and set the parameter "UAVCAN_ENABLE" to "Sensor Automatic Config".