Message review; FOM removed

dsdl/uavcan/FigureOfMerit.uavcan

@@ -1,8 +0,0 @@
-#
-# Represents the quality of associated data, higher is better.
-#
-
-float16 UNKNOWN = -65504
-float16 MIN     = 0
-float16 MAX     = 65504
-float16 value

dsdl/uavcan/equipment/actuator/265.ArrayCommand.uavcan

@@ -3,6 +3,4 @@
 # The system supports up to 256 actuators; up to 31 of them can be commanded with one message.
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 Command[<32] commands

dsdl/uavcan/equipment/esc/260.RawCommand.uavcan

@@ -5,8 +5,6 @@
 # Non-zero setpoint value below minimum should be interpreted as min valid setpoint.
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 uint12 CMD_DISARM = 0
 uint12 CMD_MIN    = 1
 uint12 CMD_MAX    = 4095

dsdl/uavcan/equipment/esc/261.RPMCommand.uavcan

@@ -5,8 +5,6 @@
 # Non-zero setpoint value below minimum should be interpreted as min valid setpoint.
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 uint16 RPM_DISARM = 0
 uint16 RPM_MIN    = 1
 uint16[<16] rpm

dsdl/uavcan/equipment/gimbal/390.AngularVelocityCommand.uavcan

@@ -2,6 +2,4 @@
 # Generic gimbal control.
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 float16[3] angular_velocity  # rad/s, camera frame

dsdl/uavcan/equipment/gimbal/391.GeoPOICommand.uavcan

@@ -2,8 +2,6 @@
 # Generic gimbal control.
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 int32 lon_1e7   # 1 LSB = 1e-7 deg
 int32 lat_1e7
 int24 alt_1e2   # 1 LSB = 1e-2 meters (10 mm)

dsdl/uavcan/equipment/gimbal/392.OrientationCommand.uavcan

@@ -2,8 +2,6 @@
 # Generic gimbal control.
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 float16[4] orientation_xyzw
 
 uint2 REFERENCE_FRAME_FIXED = 0

dsdl/uavcan/equipment/manual/740.RemoteControlInput.uavcan

@@ -2,6 +2,4 @@
 # Scaled remote control input for manual control/override.
 #
 
-uavcan.FigureOfMerit figure_of_merit  # E.g. receiver RSSI
+float16[<=32] channels   # Normalized in range [-1, 1], NAN means no such channel
-
-float16[<=32] channels                # Normalized in range [-1, 1], NAN means no such channel

dsdl/uavcan/nav/540.AttitudeThrustCommand.uavcan

@@ -2,7 +2,5 @@
 # Orientation and thrust setpoint for VTOL crafts.
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 float16[4] orientation_xyzw
-float16 thrust  # Range [0; 1]
+float16 thrust               # Normal range [0, 1]; or [-1, 1] if thrust can be reversed

dsdl/uavcan/nav/762.PoseCommand.uavcan

@@ -1,9 +1,10 @@
 #
-# Target pose of the vehicle in fixed frame.
+# Target pose of the vehicle in world fixed frame.
 # Some components may be ignored on underactuated systems (i.e. pitch and roll on a quadrotor).
 #
 
-uavcan.FigureOfMerit figure_of_merit
-
 float16[4] orientation_xyzw
-float32[3] position
+
+float64 position_x
+float64 position_y
+float32 position_z