There is a new version of firmware (2.5) for the 2CAN...
http://www.crosstheroadelectronics.com/2CAN.htm
Major Fixes....
-Fixed a potential situation where 2can stops sending udp frames - only happens on higher Ethernet utilizations.
-There is an improvement to lagging Web dash browsing while robot is enabled.
See release notes for details on all fixes.
There is no FRC legal obligation to update from 2.1 to 2.5. Both function with the FRC_2CANPlugin (SVN rev66).