diff --git a/pkgs/development/python-modules/pyuavcan/default.nix b/pkgs/development/python-modules/pyuavcan/default.nix
new file mode 100644
index 000000000000..0c78b3059593
--- /dev/null
+++ b/pkgs/development/python-modules/pyuavcan/default.nix
@@ -0,0 +1,50 @@
+{ lib, buildPythonPackage, fetchFromGitHub, pythonOlder, numpy, nunavut
+, pyserial , pytest, ruamel_yaml}:
+
+ buildPythonPackage rec {
+  pname = "pyuavcan";
+  version = "1.1.0.dev1";
+  disabled = pythonOlder "3.7"; # only python>=3.7 is supported
+
+  src = fetchFromGitHub {
+    owner = "UAVCAN";
+    repo = pname;
+    rev = version;
+    sha256 = "0fmbmdnnh679zkllv5m6pkrasg7m9vjwabqnmz5m7flrgdh6h4qa";
+  };
+
+  propagatedBuildInputs = [
+    numpy
+    nunavut
+    pyserial
+    pytest
+    ruamel_yaml
+  ];
+
+  # allow for writable directory for darwin
+  preBuild = ''
+    export HOME=$TMPDIR
+    export PYTHONASYNCIODEBUG=1
+  ''; 
+
+  # tests fail ATM.
+  doCheck = false;
+
+  # check at least that import works, as tests fail
+  pythonImportsCheck = [
+    "pyuavcan"
+  ];
+
+  meta = with lib; {
+    description = "A full-featured implementation of the UAVCAN protocol stack";
+    longDescription = ''
+      It is intended for non-embedded, user-facing applications such as GUI
+      software, diagnostic tools, automation scripts, prototypes, and various
+      R&D cases.  PyUAVCAN consists of a Python library (package) and a simple
+      CLI tool for basic diagnostics and shell script automation.
+    '';
+    homepage = "https://pyuavcan.readthedocs.io";
+    maintainers = with maintainers; [ wucke13 ];
+    license = licenses.mit;
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index cd9d8de823eb..333b589af3a2 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -1617,6 +1617,17 @@ in {
     inherit (pkgs.darwin.apple_sdk.frameworks) ApplicationServices CoreServices;
   };
 
+  pyuavcan = callPackage ../development/python-modules/pyuavcan { 
+    # this version pinpoint to anold version is necessary due to a regression
+    nunavut = self.nunavut.overridePythonAttrs ( old: rec {
+      version = "0.2.3";
+      src = old.src.override {
+        inherit version;
+        sha256 = "0x8a9h4mc2r2yz49s9arsbs4bn3h25mvmg4zbgksm9hcyi9536x5";
+      };
+    });
+  };
+
   pyunifi = callPackage ../development/python-modules/pyunifi { };
 
   vdf = callPackage ../development/python-modules/vdf { };