The latest ArduPilot AP_Periph firmware (v1.5.1+) and DroneCAN GUI tool (v1.2.22+) allow connecting uCenter directly to a DroneCAN GPS like the F9P. This makes it possible to update F9P firmware completely over DroneCAN, without needing direct USB access.
This is a companion discussion topic for the original entry at https://blog.unmanned.tech/p/326a9a39-79eb-4c80-9180-312be92e6769