C2INAV — Type mismatch in reference to navigation_report_type

The type of the reference from navigation covariance type to navigation_report_type is long, but the key for the topics is composite - and there is more than one topic. The mapping from a long to an individual topic instance is ill-defined.

Map associations to the relevant key types rather than long

In the current IDL/DDS PSM mapping referencing associations are mapped to a long value which is used to index the topic instances (such references must be to a topic type).
Many C2INav topics have composite keys - typically an enumerate and a Boolean. The mapping to long is ill-defined.
Each associated instance should be mapped to a key value, or set of values where there are multiple keys.
Where the association is to a generalisation a union of the possible key types of the specialisations should be used.
One-to-many associations should map to a sequence of such values.