Are there any DroneCAN DSDL's that can send a command to the FMU to perform RTL or E-Land?

ArduCopter
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1

We have developed a custom battery management system, utilizing BatteryInfo.h and BatteryInfoAux.h DSDL files, to transmit battery data to the FMU.

We would like to implement error handling capabilities, where the aircraft performs RTL in the event of an overcurrent, overtemperature, etc.

Are there any DSDL’s that can allow me to send the status of the battery from the BMS to the FMU to perform RTL sequence?

2

Using Mavlink we send COMMAND_LONG > MAV_CMD_DO_SET_MODE
I can not see any equivalent of COMMAND_LONG within DroneCAN DSDL…