Why were the application specific datatypes removed in UAVCAN v1?
While the application specific message definitions were removed from the core specification v1 does not prohibit or even disown the concept of application specific messages. The messages in v0 were designed with px4 systems in mind and we are more than willing to work with that community to define a regulated, public set of datatypes that could be similar to the v0 definitions (if that is the outcome of the design process).
When starting the design of v1 we found that most of the v0 application functions sowed confusion in industries evaluating UAVCAN for use in non px4 systems. V1 clarifies that the core specification is complete and comprehensive without any predefined application functions while also building a process for communities, vendors, and private firms to define standard “profiles” that allow for interoperability and efficiency.