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ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage

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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
This commit is contained in:
Daniel Agar
2021-03-05 18:25:14 -05:00
committed by GitHub
parent 12a4b0334f
commit 263b00b65f
21 changed files with 212 additions and 118 deletions
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8
msg/vehicle_command.msg
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@@ -87,6 +87,12 @@ uint16 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment
uint16 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment
uint16 VEHICLE_CMD_FIXED_MAG_CAL_YAW = 42006 # Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.
# PX4 vehicle commands (beyond 16 bit mavlink commands)
uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # start of PX4 internal only vehicle commands (> UINT16_MAX)
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. |Empty|Empty|Empty|Empty|Latitude|Longitude|Altitude|
uint8 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint8 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
uint8 VEHICLE_CMD_RESULT_DENIED = 2 # Command PERMANENTLY DENIED |
@@ -148,7 +154,7 @@ float32 param4 # Parameter 4, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param5 # Parameter 5, as defined by MAVLink uint16 VEHICLE_CMD enum.
float64 param6 # Parameter 6, as defined by MAVLink uint16 VEHICLE_CMD enum.
float32 param7 # Parameter 7, as defined by MAVLink uint16 VEHICLE_CMD enum.
uint16 command # Command ID, as defined MAVLink by uint16 VEHICLE_CMD enum.
uint32 command # Command ID
uint8 target_system # System which should execute the command
uint8 target_component # Component which should execute the command, 0 for all components
uint8 source_system # System sending the command