Added some equipment messages

dsdl/uavcan/equipment/256.PerformAutomaticSelfTest.uavcan

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+#
+# Fast automatic self test request.
+# E.g. Before flight, the flight computer should call this service on every node that provides it.
+# Such nodes should be detected with the service std.protocol.GetDataTypeInfo.
+# If at least one node fails, the start should be aborted.
+#
+
+---
+
+# Amount of extra time the node needs to finish the procedure.
+uint16 delay_msec
+
+bool ok

dsdl/uavcan/equipment/257.PerformAutomaticCalibration.uavcan

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+#
+# Fast automatic calibration request.
+# E.g. Before flight, the flight computer should call this service on every node that provides it.
+# Such nodes should be detected with the service std.protocol.GetDataTypeInfo.
+# If at least one node fails, the start should be aborted.
+#
+
+---
+
+# Amount of extra time the node needs to finish the procedure.
+uint16 delay_msec
+
+bool ok

dsdl/uavcan/equipment/CoarseOrientation.uavcan

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+#
+# Nested type.
+# Coarse, low-resolution 3D orientation represented as fixed axes in 16 bit.
+#
+# Roll, pitch, yaw angles in radians should be multiplied by
+# ANGLE_MULTIPLIER in order to convert them to the coarse representation.
+#
+# ANGLE_MULTIPLIER = NORM / PI
+#
+# Where NORM is 12, because it:
+#  - Fits the maximum range of the signed 5 bit integer
+#  - Allows to represent the following angles without precision loss:
+#    0, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, 180, and negatives
+#
+
+float32 ANGLE_MULTIPLIER = 4.7746482927568605
+
+int5[3] fixed_axis_roll_pitch_yaw
+
+bool defined    # False if the orientation is actually not defined

dsdl/uavcan/equipment/ahrs/256.Ahrs.uavcan

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+#
+# Inertial data and orientation in body frame.
+#
+
+uavcan.Timestamp timestamp
+
+# Normalized quaternion
+float16[4] orientation_xyzw
+float16[<=9] orientation_covariance
+
+# rad/sec
+float16[3] angular_velocity
+float16[<=9] angular_velocity_covariance
+
+# m/s^2
+float16[3] linear_acceleration
+float16[<=9] linear_acceleration_covariance

dsdl/uavcan/equipment/ahrs/257.Magnetometer.uavcan

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+#
+# Magnetic field readings in body frame.
+#
+
+float16[3] magnetic_field
+float16[<=9] magnetic_field_covariance

dsdl/uavcan/equipment/airdata/280.Airspeed.uavcan

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+#
+# True airspeed.
+#
+
+float16 true_airspeed
+float16 true_airspeed_variance

dsdl/uavcan/equipment/airdata/281.AltitudeAndClimbRate.uavcan

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+#
+# Pressure altitude and barometric climb rate.
+# Barometer nodes should publish this message.
+#
+
+uavcan.Timestamp timestamp
+
+float32 pressure_altitude
+float16 pressure_altitude_variance
+
+float16 climb_rate
+float16 climb_rate_variance

dsdl/uavcan/equipment/airdata/282.AngleOfAttack.uavcan

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+#
+# Angle of attack.
+#
+
+uint8 ID_LEFT = 254
+uint8 ID_RIGHT = 255
+uint8 id
+
+float16 aoa
+float16 aoa_variance

dsdl/uavcan/equipment/airdata/283.Sideslip.uavcan

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+#
+# Body sideslip in radians.
+# Yaw right: +, yaw left: -
+#
+
+float16 sideslip_angle
+float16 sideslip_angle_variance

dsdl/uavcan/equipment/airdata/284.StaticAirData.uavcan

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+#
+# Static air data for barometric altitude and altitude rate measurements.
+#
+
+uavcan.Timestamp timestamp
+
+float16 static_pressure
+float16 static_pressure_variance
+
+float16 static_temperature
+float16 static_temperature_variance

dsdl/uavcan/equipment/gnss/300.Fix.uavcan

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+#
+# GNSS nav solution with uncertainty.
+# Lat and lon are represented in integer degrees * 1e7, so 1 LSB = 1e-7 deg (approx. 11 mm per LSB on equator).
+# Alt is above ellipsoid, represented as meters * 1e2, so 1 LSB = 1e-2 meters (10 mm).
+# Velocity is in NED frame (north-east-down) in meters per second.
+#
+
+uavcan.Timestamp timestamp
+
+int32 lon_1e7
+int32 lat_1e7
+int24 alt_1e2
+
+float16[3] ned_velocity
+
+uint4 sats_used
+
+float16[<=9] position_covariance   # m^2
+float16[<=9] velocity_covariance   # (m/s)^2

dsdl/uavcan/equipment/gnss/301.RtcmStream.uavcan

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+#
+# GNSS RTCM SC-104 protocol raw stream container.
+#
+
+uint8[<=250] data

dsdl/uavcan/equipment/gnss/302.Aux.uavcan

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+#
+# GNSS low priority auxiliary info; should be published at low frequency or not published at all.
+#
+
+uint4 sats_visible
+uint4 sats_used
+
+float16 gdop
+float16 pdop
+float16 hdop
+float16 vdop
+float16 tdop