Optimized messages in uavcan.protocol.*

dsdl/uavcan/protocol/550.NodeStatus.uavcan

@@ -9,7 +9,7 @@ uint16 PUBLICATION_PERIOD_MS = 1000
 uint16 OFFLINE_TIMEOUT_MS = 4000
 
 # Uptime counter should never overflow.
-uint24 uptime_sec
+uint28 uptime_sec
 
 # Status code should be used to reflect the node status in the most abstract way.
 # Use cases: top-level onboard computer should not allow the UAV to begin normal operation

dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan

@@ -8,10 +8,11 @@ DataTypeKind kind
 ---
 
 uint64 signature            # Data type signature
-uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
 
 uint8 MASK_KNOWN      = 1   # This data type is defined
 uint8 MASK_SUBSCRIBED = 2   # Subscribed to messages of this type
 uint8 MASK_PUBLISHING = 4   # Publishing messages of this type
 uint8 MASK_SERVING    = 8   # Providing service of this type
 uint8 mask
+
+uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"

dsdl/uavcan/protocol/553.GetProtocolStatistics.uavcan

@@ -4,12 +4,12 @@
 
 ---
 
-# CAN bus statistics, for each interface independently
-uint64[<=3] can_frames_tx
-uint64[<=3] can_frames_rx
-uint64[<=3] can_frames_errors
-
 # UAVCAN transport layer statistics
 uint64 transfers_tx
 uint64 transfers_rx
 uint32 transfers_rx_errors
+
+# CAN bus statistics, for each interface independently
+uint64[<=3] can_frames_tx
+uint64[<=3] can_frames_rx
+uint64[<=3] can_frames_errors