DSDL messages in uavcan.equpment.*

dsdl/uavcan/equipment/indication/742.BeepCommand.uavcan

@@ -0,0 +1,7 @@
+#
+# Nodes that are capable of making noise (e.g. ESC) should obey.
+# Use case: pre-arm warning sound, error indication.
+#
+
+float16 frequency  # Hz
+float16 duration   # Sec

dsdl/uavcan/equipment/indication/743.LightsCommand.uavcan

@@ -0,0 +1,5 @@
+#
+# Lights control command.
+#
+
+SingleLightCommand[<=32] commands

dsdl/uavcan/equipment/indication/RGB565.uavcan

@@ -0,0 +1,9 @@
+#
+# Nested type.
+# RGB color in 5-6-5 16-bit palette.
+# Monocolor lights should interpret this as brightness setpoint: from zero (0, 0, 0) to full brightness (31, 63, 31).
+#
+
+uint5 red
+uint6 green
+uint5 blue

dsdl/uavcan/equipment/indication/SingleLightCommand.uavcan

@@ -0,0 +1,8 @@
+#
+# Nested type.
+# Controls single light source, color of monochrome.
+#
+
+uint8 light_id
+
+RGB565 color      # Monocolor lights should interpret this as brightness