Allow UavcanEscController to operate using KDECAN protocol

[duartecdias]

It is based on the PR in dronecan to allow tunneling of custom CAN protocol through the uavcan driver: dronecan/libuavcan#16 (most likely need to wait for its approval, and then cross-check hash of libuavcan submodule).

Some uavcan parameters are created to define the intended behavior of the uavcan node. By default it will only read/send UAVCAN messages, and not allow other protocols. The other operating modes, and performed test cases are described in the above PR.

[dagar]

I'm not sure how I feel about this approach to be honest.

At a minimum could you please keep all of this self contained to new classes? Instead of overloading UavcanEscController to support multiple protocols, simply add a new dedicated KDECAN ESC controller. We should also have all the KDE CAN portions behind kconfig.

[dagar]

Does KDE support proper DroneCAN now? https://www.linkedin.com/posts/kde-direct-llc_dronecan-added-to-all-kde-direct-uvc-series-activity-7107441971274616832-fmIg?utm_source=share&utm_medium=member_desktop

[duartecdias]

I think there was a recent wish to enable dronecan with KDECAN. @AndreasAntener do you have more information on this?

[AndreasAntener]

Well I'm happy that KDE went ahead with Dronecan... We'll discuss with them about what to do with this implementation now. In practice I don't think it will make much sense for anyone new to start off with this assuming the Dronecan version works already. However we could make this into an implementation example? As I've mentioned here there are other use-cases.

[dagar]

However we could make this into an implementation example? As I've mentioned dronecan/libuavcan#16 (comment) there are other use-cases.

That makes sense to me I just think we should be careful to keep it modular so that UavcanEscController doesn't have support crammed in it for multiple protocols. Going forward I want to keep things strictly separated so that someone can individually focus on their particular hardware and not worry about conflicts.

[AndreasAntener]

That makes sense to me I just think we should be careful to keep it modular so that UavcanEscController doesn't have support crammed in it for multiple protocols.

Yeah.

KDE is still interested to have this work with PX4 so we'll restructure.