Assistance with Integrating CAN FD Proximity Sensor Using DroneCAN

Hello,

I hope you’re all doing well. I have a question regarding the integration of a proximity sensor ,
I’m working on integrating a proximity sensor that outputs data via CAN FD and want to configure it as a DroneCAN proximity sensor on a CubeOrange+.

I reviewed the DroneCAN DSDL for proximity data, which includes fields like sensor_id, reading_type, yaw, pitch, and distance.
The message structure I am referring to is :

Proximity data

uint8 sensor_id # Sensor ID

uint3 READING_TYPE_NO_DATA = 0 # Distance is unknown
uint3 READING_TYPE_NOT_CONNECTED = 1 # Distance field contains valid distance
uint3 READING_TYPE_GOOD = 2 # Distance field contains valid reading for the sensor

uint3 reading_type # Sensor Status

uint5 flags # Reserved
uint5 FLAGS_NONE = 0

float16 yaw # Degrees in body frame
float16 pitch # Degrees in body frame
float16 distance # Meters

I’m stuck on the specifics of what data and ID I need to send from the sensor so that when I connect it to the CubeOrange+ and configure it as a DroneCAN proximity sensor, it works seamlessly.

Are there specific bit/byte alignment requirements for the yaw/pitch/distance fields in CAN FD format?

Any sample message formats or configuration tips would be appreciated.

Thanks in advance for any guidance.