UAVCAN: publish CAN frames to uORB (ORB_ID(can_frame_out))

- can frames published to ORB_ID(can_frame_in) are injected

msg/CMakeLists.txt

@@ -56,6 +56,7 @@ set(msg_files
 	camera_capture.msg
 	camera_status.msg
 	camera_trigger.msg
+	can_frame.msg
 	cellular_status.msg
 	collision_constraints.msg
 	collision_report.msg

msg/can_frame.msg

@@ -0,0 +1,15 @@
+uint64 timestamp	# time since system start (microseconds)
+
+uint32 id
+
+bool is_rtr
+bool is_extended
+bool is_error
+
+uint8 dlc
+
+uint8[8] data
+
+uint8 ORB_QUEUE_LENGTH = 8
+
+# TOPICS can_frame can_frame_out can_frame_in

msg/vehicle_command.msg

@@ -96,6 +96,7 @@ uint16 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000    	# Command VTOL transition
 uint16 VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST = 3001	# Request arm authorization
 uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001	# Prepare a payload deployment in the flight plan
 uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002	# Control a pre-programmed payload deployment
+uint16 VEHICLE_CMD_CAN_FORWARD = 32000
 uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006            # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
 uint16 VEHICLE_CMD_DO_WINCH = 42600			# Command to operate winch.