This page will tell you how to get more info on DroneCAN
The DroneCAN documentation for this board can be found in the release notes version 6: https://github.com/NXPHoverGames/RDDRONE-BMS772/blob/main/BMS772_releaseNotes_6.0.pdf Be sure to download this to get the full PDF. See:
Chapter 8.4: How to use the DroneCAN interface
Chapter 8.4.1 How to set up the DroneCAN GUI tool and start dynamic node ID allocation
Chapter 8.4.2 How to use the DroneCAN GUI tool to configure the BMS
Chapter 8.4.3 How to use the DroneCAN GUI tool to monitor the DroneCAN messages
Chapter 11.5.8.1 DroneCAN messages implemented