# UAVCAN Drone Application Layer SIG guidelines

**URL:** <https://forum.opencyphal.org/t/uavcan-drone-application-layer-sig-guidelines/1280>\
**Category:** General\
**Created:** [June 2, 2021, 4:54pm UTC](https://forum.opencyphal.org/t/uavcan-drone-application-layer-sig-guidelines/1280 "2021-06-02T16:54:05Z")\
**Posts on this page:** 1\
**Page:** 2

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**Author:** ![coder\_kalyan](https://forum.opencyphal.org/user_avatar/forum.opencyphal.org/coder_kalyan/32/1361_2.png) [@coder\_kalyan](https://forum.opencyphal.org/u/coder_kalyan)\
**Post date:** [July 13, 2021, 6:32am UTC](https://forum.opencyphal.org/t/uavcan-drone-application-layer-sig-guidelines/1280/21 "2021-07-13T06:32:58Z")

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I spent today cleaning up and adding to the UDRAL document based on the discussion in the comments. There is still work to be done, but it’s starting to take shape. I am trying to make the best possible compromises between efficiency, usability, composability/flexibility, and adhering to UAVCANv1 guidelines. I am currently working on developing a “device class” system - this may be used through registers for capability listing and/or type safety or just end up being a way we organize our devices. Additionally I will work on an RFC for better event/error/fault handling and post it on this forum.

Naturally, this spec is useless without @dagar and @tridge’s input, so I ask again please if you can check out the proposal. If everything looks good, we can start developing the actual messages. I would definitely like to move ahead with that soon but don’t want to rush before approval so we avoid wasting work.

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