CAN: switched to DroneCAN DSDL and libuavcan

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "modules/uavcan"]
 	path = modules/uavcan
-	url = git://github.com/ArduPilot/uavcan.git
+	url = git://github.com/DroneCAN/libuavcan.git
 [submodule "modules/waf"]
 	path = modules/waf
 	url = git://github.com/ArduPilot/waf.git
@@ -28,3 +28,7 @@
 [submodule "modules/canard_dsdlc"]
 	path = modules/canard_dsdlc
 	url =  https://github.com/ardupilot/canard_dsdlc
+[submodule "modules/DroneCAN/DSDL"]
+	path = modules/DroneCAN/DSDL
+	url = git://github.com/DroneCAN/DSDL.git
+

Tools/AP_Bootloader/wscript

@@ -30,8 +30,8 @@ def build(bld):
     
     bld(
         # build libcanard headers
-        source=bld.path.ant_glob("modules/uavcan/dsdl/**/*.uavcan libraries/AP_UAVCAN/dsdl/**/*.uavcan"),
-        rule="python3 ${SRCROOT}/modules/libcanard/dsdl_compiler/libcanard_dsdlc --header_only --outdir ${BUILDROOT}/modules/libcanard/dsdlc_generated ${SRCROOT}/modules/uavcan/dsdl/uavcan ${SRCROOT}/libraries/AP_UAVCAN/dsdl/ardupilot ${SRCROOT}/libraries/AP_UAVCAN/dsdl/com",
+        source=bld.path.ant_glob("modules/DroneCAN/DSDL/**/*.uavcan"),
+        rule="python3 ${SRCROOT}/modules/libcanard/dsdl_compiler/libcanard_dsdlc --header_only --outdir ${BUILDROOT}/modules/libcanard/dsdlc_generated ${SRCROOT}/modules/DroneCAN/DSDL/uavcan ${SRCROOT}/modules/DroneCAN/DSDL/ardupilot ${SRCROOT}/modules/DroneCAN/DSDL/com",
         group='dynamic_sources',
     )
         

modules/DroneCAN/DSDL

@@ -0,0 +1 @@
+Subproject commit 3aec7069e389cf571167d2071040b71240fff97e

modules/uavcan

@@ -1 +1 @@
-Subproject commit 5b157a69aa3e3a579f92e264f6eded86b25583ac
+Subproject commit 0cfba10e5b866466ebaeb7134026b50de5282629

wscript

@@ -620,7 +620,7 @@ def _build_dynamic_sources(bld):
     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
         bld(
             features='uavcangen',
-            source=bld.srcnode.ant_glob('modules/uavcan/dsdl/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
+            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/*', dir=True, src=False),
             output_dir='modules/uavcan/libuavcan/include/dsdlc_generated',
             name='uavcan',
             export_includes=[