I strongly prefer something byte-aligned. The tunnel Broadcast DSDL message currently offsets the array by 2 bits, which has consequences for implementing/testing/debugging.
I'm currently doing CAN telemetry using an arbitrary CAN ID, and passing through the payload directly in the frame with no metadata.
How would you like to handle telemetry? One option is the tunnel messages here: https://github.com/dronecan/DSDL/tree/master/uavcan/tunnel. @peterbarker would prefer something fixed instead from chats on Discord.
I strongly prefer something byte-aligned. The tunnel Broadcast DSDL message currently offsets the array by 2 bits, which has consequences for implementing/testing/debugging.
I'm currently doing CAN telemetry using an arbitrary CAN ID, and passing through the payload directly in the frame with no metadata.