Peter Hall

Do we need a assert that the value is not larger than 16?

The spec also says ["Version information shall not be changed while the node is running"](https://github.com/dronecan/DSDL/blob/bc982dc98365f40bb1bf7c591098d437f69ae828/uavcan/protocol/1.GetNodeInfo.uavcan#L13-L15)

To elaborate slightly more, we could refuse UID 0. But that would result in any existing devices in the wild that use 0 not being accepted anymore. The UID is...

This now works as expected while abiding by `SCR_DIR_DISABLE`, the approach using defines is not very scalable it would fall over if we added another directory, but for now it...

We have a option to enable safety switch on disarm, if that was set disarm would cause safety to come on which could in-turn inhibit your parachute release servo. I'm...

A tlog of a test on real hardware would be useful. With my SIM (https://github.com/ArduPilot/ardupilot/pull/26663) I'm seeing the FTP replies carry on for a long time after mission planner says...

> @IamPete1 and @peterbarker If you could respond to my comments on your suggested changes, then I can clean this up. Thanks! Any chance of that tlog? As I say...

> I don't use ELRS so I've only tested with mLRS and briefly with SiK and Crossfire. Ah, OK, if you can give me a rough data rate for mLRS...

Rebased, fixed the conflict, removed the merge commit and squashed the comment typo fixup commit.

Some testing with my sim set to a limit of 1500B/s. Without this patch:  TxBuf is a 0 for the duration of the FTP. Average data rate is hard...