Can MAVSdk support set ekf origin?

[ucas-zihaowang]

Hello, I have a homework which needs to fly multiple UAVs, So I plan to build a global NED Coordinate. But when a vehicle starts to takeoff, It's current ned postion is ( 0, 0, 0 ).

I want to modify the current NED position by setting ekf_origin.

[JonasVautherin]

Is there a mavlink message that is implemented in PX4 and that does that?

[ucas-zihaowang]

Is there a mavlink message that is implemented in PX4 and that does that?

Arrording to https://github.com/ArduPilot/MissionPlanner/issues/1901,

I guess Mavlink should have this message.

[JonasVautherin]

MAVLink messages are defined here: https://mavlink.io/en/messages/common.html

Next step is to find which one you want (if it exists) :wink:

[julianoes]

Looks like it would be this one: https://mavlink.io/en/messages/common.html#SET_GPS_GLOBAL_ORIGIN

Which even seems to be implemented by PX4: https://github.com/PX4/PX4-Autopilot/blob/5eddf32cd38f25e385a1a171319e4e08a3a4a4dc/src/modules/mavlink/mavlink_receiver.cpp#L1188-L1211

[JonasVautherin]

Oh we already have a getter for that! https://github.com/mavlink/MAVSDK/blob/main/src/plugins/telemetry/telemetry_impl.cpp#L2139

[ucas-zihaowang]

@julianoes @JonasVautherin , thanks for your help. Now I think mavlink message SET_GPS_GLOBAL_ORIGIN or mavsdk api TelemetryImpl::get_gps_global_origin_async may be used to set ekf_origin.

Next, I will test this api( get_gps_global_origin_async ), and write my result.

Thanks your help.

[julianoes]

The setter needs to be implemented.

See here, how a feature can be added: https://mavsdk.mavlink.io/main/en/cpp/contributing/plugins.html#add-api-to-proto

[JonasVautherin]

@julianoes Would that go into the action plugin?

[julianoes]

Yes. I'd say so.

[zekemyapp]

Hello! I'm trying to implement this change request for some personal test. I wonder if this message should be in mocap instead of actions... also, should it be a sync method?

[julianoes]

I think action is ok. I'd do both if both are useful.