Public unregulated vendor-specific Cyphal DSDL definitions.
Related tools:
- PyDSDL -- parse, serialize, and deserialize DSDL in Python.
- Nunavut -- generate DSDL serialization code in various languages.
- llvm-dsdl -- DSDL codegen based on LLVM.
Conventions:
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For world fixed frames, the North-East-Down (NED) right-handed notation is preferred: X – northward, Y – eastward, Z – downward.
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In relation to a body, the convention is as follows, right-handed: X – forward, Y – rightward, Z – downward.
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Angular velocities are represented using the right-handed, fixed-axis (extrinsic) convention: X (roll), Y (pitch), Z (yaw).
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For NED frames, the initial (zero) rotation of a body is the state where the axes of the body frame are aligned with the axes of the local NED frame: X points north, Y points east, Z points down.
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Matrices are represented in the row-major order.