C2INAV — Placement of surge,sway and heave within the spec

The inclusion of surge/sway/heave & the associated rates under Attitude::offset_report_type seemed slightly odd at first glance. I would have expected these to be more logically included as variations in Position, not attitude. (Albeit typically measured using a different frame of reference). But I can also see a counter-argument that says as surge/sway/heave are normally assessed in terms of current platform attitude, it’s a more logical place. I guess it comes down to whether you’re interested in position on a macro scale or a micro scale ? On the macro scale you probably don’t care so much about headings at all … on the micro scale you absolutely do. I don’t’ know whether the specs or their requirements make any indication about their intended use and associated limitations ?

Explain rationale for attitude and position packages

Explain that services relating to the micro-scale are in attitude and that services relating to macro-scale are in the position