Two VESCs with servo-out firmware

I need your help. :)

For a robotics project, I want to use two VESCs to power two motors. I also need the VESC ​flashed with the servo-out firmware since the steering of the robot will be controlled using the PPM cable of the VESC. My plan is to first flash both of the VESCs with servo-out firmware, then assign a slave mode to one of them and finally connect them via canbus cable. Then, connect the master VESC to the onboard computer of the robot. Does this setup work?

 

Thank you for your help. :)