Interesting in regards to ROS2; I'd not heard of it. It sounds like a type of RTOS or library? I'm not sure if I can use it; my devices are bare metal currently

Interesting in regards to ROS2; I'd not heard of it. It sounds like a type of RTOS or library? I'm not sure if I can use it; my devices are bare metal currently. I am using DroneCAN because it is #1: A bus. #2: Differential signaling. #3: plug+play with an ecosystem. It's a great way to set up decoupled systems, where the flight controller isn't doing all the IO. I should note that my perspective subtly clashes with the designers of both MavLINK and DroneCAN: think these protocols should operate as you'd read a hardware datasheet: It should be easy to implement in any language by referencing a byte-aligned table, and have explicit instructions. Because, it's just bytes down the wire. The DroneCAN creators, and it sounds like MavLINK as well consider it something where you should rely on an official library. The Get/Set API is a hot mess? It doesn't matter if you expect no one to implement it because the expectation is to use the official library. You will also note that DroneCAN (and maybe mavlink? Not sure) devices have poor or no protocol documentation, which is astounding to me.