ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage

- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink

msg/vehicle_command.msg

@@ -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

msg/vehicle_command_ack.msg

@@ -15,7 +15,7 @@ uint16 ARM_AUTH_DENIED_REASON_BAD_WEATHER = 5
 
 uint8 ORB_QUEUE_LENGTH = 4
 
-uint16 command
+uint32 command
 uint8 result
 bool from_external
 uint8 result_param1

src/modules/commander/Commander.cpp

@@ -132,8 +132,9 @@ static int power_button_state_notification_cb(board_power_button_state_notificat
 #endif // BOARD_HAS_POWER_CONTROL
 
 #ifndef CONSTRAINED_FLASH
-static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2 = NAN, float param3 = NAN,
+static bool send_vehicle_command(const uint32_t cmd, const float param1 = NAN, const float param2 = NAN,
-				 float param4 = NAN, float param5 = NAN, float param6 = NAN, float param7 = NAN)
+				 const float param3 = NAN,  const float param4 = NAN, const double param5 = static_cast<double>(NAN),
+				 const double param6 = static_cast<double>(NAN), const float param7 = NAN)
 {
 	vehicle_command_s vcmd{};
 
@@ -174,7 +175,7 @@ int Commander::custom_command(int argc, char *argv[])
 		if (argc > 1) {
 			if (!strcmp(argv[1], "gyro")) {
 				// gyro calibration: param1 = 1
-				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f);
+				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 1.f, 0.f, 0.f, 0.f, 0.0, 0.0, 0.f);
 
 			} else if (!strcmp(argv[1], "mag")) {
 				if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
@@ -183,30 +184,30 @@ int Commander::custom_command(int argc, char *argv[])
 
 				} else {
 					// magnetometer calibration: param2 = 1
-					send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f);
+					send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 1.f, 0.f, 0.f, 0.0, 0.0, 0.f);
 				}
 
 			} else if (!strcmp(argv[1], "accel")) {
 				if (argc > 2 && (strcmp(argv[2], "quick") == 0)) {
 					// accelerometer quick calibration: param5 = 3
-					send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 4.f, 0.f, 0.f);
+					send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 4.0, 0.0, 0.f);
 
 				} else {
 					// accelerometer calibration: param5 = 1
-					send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f);
+					send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 1.0, 0.0, 0.f);
 				}
 
 			} else if (!strcmp(argv[1], "level")) {
 				// board level calibration: param5 = 2
-				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.f, 0.f, 0.f);
+				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 2.0, 0.0, 0.f);
 
 			} else if (!strcmp(argv[1], "airspeed")) {
 				// airspeed calibration: param6 = 2
-				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.f, 2.f, 0.f);
+				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 2.0, 0.f);
 
 			} else if (!strcmp(argv[1], "esc")) {
 				// ESC calibration: param7 = 1
-				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 1.f);
+				send_vehicle_command(vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION, 0.f, 0.f, 0.f, 0.f, 0.0, 0.0, 1.f);
 
 			} else {
 				PX4_ERR("argument %s unsupported.", argv[1]);
@@ -359,6 +360,25 @@ int Commander::custom_command(int argc, char *argv[])
 		return (ret ? 0 : 1);
 	}
 
+	if (!strcmp(argv[0], "set_ekf_origin")) {
+		if (argc > 3) {
+
+			double latitude  = atof(argv[1]);
+			double longitude = atof(argv[2]);
+			float  altitude  = atof(argv[3]);
+
+			// Set the ekf NED origin global coordinates.
+			bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN,
+							0.f, 0.f, 0.0, 0.0, latitude, longitude, altitude);
+			return (ret ? 0 : 1);
+
+		} else {
+			PX4_ERR("missing argument");
+			return 0;
+		}
+	}
+
+
 #endif
 
 	return print_usage("unknown command");
@@ -1137,9 +1157,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
 
 			} else {
 				answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
-				// parameter 1: Yaw in degrees
+				// parameter 1: Heading   (degrees)
-				// parameter 3: Latitude
+				// parameter 3: Latitude  (degrees)
-				// parameter 4: Longitude
+				// parameter 4: Longitude (degrees)
 
 				// assume vehicle pointing north (0 degrees) if heading isn't specified
 				const float heading_radians = PX4_ISFINITE(cmd.param1) ? math::radians(roundf(cmd.param1)) : 0.f;
@@ -1223,6 +1243,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 	case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET:
 	case vehicle_command_s::VEHICLE_CMD_DO_SET_ROI_NONE:
 	case vehicle_command_s::VEHICLE_CMD_INJECT_FAILURE:
+	case vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN:
 		/* ignore commands that are handled by other parts of the system */
 		break;
 
@@ -1255,6 +1276,7 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 	test_motor_s test_motor{};
 	test_motor.timestamp = hrt_absolute_time();
 	test_motor.motor_number = (int)(cmd.param1 + 0.5f) - 1;
+
 	int throttle_type = (int)(cmd.param2 + 0.5f);
 
 	if (throttle_type != 0) { // 0: MOTOR_TEST_THROTTLE_PERCENT
@@ -4041,6 +4063,9 @@ The commander module contains the state machine for mode switching and failsafe
 			"Flight mode", false);
 	PRINT_MODULE_USAGE_COMMAND("lockdown");
 	PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);
+	PRINT_MODULE_USAGE_COMMAND("set_ekf_origin");
+	PRINT_MODULE_USAGE_ARG("lat, lon, alt", "Origin Latitude, Longitude, Altitude", false);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("lat|lon|alt", "Origin latitude longitude altitude");
 #endif
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 

src/modules/ekf2/EKF2.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -265,6 +265,28 @@ void EKF2::Run()
 		}
 	}
 
+	if (_vehicle_command_sub.updated()) {
+		vehicle_command_s vehicle_command;
+
+		if (_vehicle_command_sub.update(&vehicle_command)) {
+			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN) {
+				if (!_ekf.control_status_flags().in_air) {
+
+					uint64_t origin_time {};
+					double latitude = vehicle_command.param5;
+					double longitude = vehicle_command.param6;
+					float altitude = vehicle_command.param7;
+
+					_ekf.setEkfGlobalOrigin(latitude, longitude, altitude);
+
+					// Validate the ekf origin status.
+					_ekf.getEkfGlobalOrigin(origin_time, latitude, longitude, altitude);
+					PX4_INFO("New NED origin (LLA): %3.10f, %3.10f, %4.3f\n", latitude, longitude, static_cast<double>(altitude));
+				}
+			}
+		}
+	}
+
 	bool imu_updated = false;
 	imuSample imu_sample_new {};
 

src/modules/ekf2/EKF2.hpp

@@ -77,6 +77,7 @@
 #include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/vehicle_air_data.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_imu.h>
@@ -219,6 +220,7 @@ private:
 	uORB::Subscription _optical_flow_sub{ORB_ID(optical_flow)};
 	uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
 	uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
 	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
 

src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp

@@ -148,8 +148,15 @@ void FlightTask::_evaluateVehicleLocalPosition()
 
 		// global frame reference coordinates to enable conversions
 		if (_sub_vehicle_local_position.get().xy_global && _sub_vehicle_local_position.get().z_global) {
-			globallocalconverter_init(_sub_vehicle_local_position.get().ref_lat, _sub_vehicle_local_position.get().ref_lon,
+			if (!map_projection_initialized(&_global_local_proj_ref)
-						  _sub_vehicle_local_position.get().ref_alt, _sub_vehicle_local_position.get().ref_timestamp);
+			    || (_global_local_proj_ref.timestamp != _sub_vehicle_local_position.get().ref_timestamp)) {
+
+				map_projection_init_timestamped(&_global_local_proj_ref,
+								_sub_vehicle_local_position.get().ref_lat, _sub_vehicle_local_position.get().ref_lon,
+								_sub_vehicle_local_position.get().ref_timestamp);
+
+				_global_local_alt0 = _sub_vehicle_local_position.get().ref_alt;
+			}
 		}
 	}
 }

src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp

@@ -53,6 +53,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
 #include <uORB/topics/home_position.h>
+#include <lib/ecl/geo/geo.h>
 #include <lib/weather_vane/WeatherVane.hpp>
 
 struct ekf_reset_counters_s {
@@ -212,10 +213,15 @@ protected:
 	virtual void _ekfResetHandlerVelocityZ() {};
 	virtual void _ekfResetHandlerHeading(float delta_psi) {};
 
+	map_projection_reference_s _global_local_proj_ref{};
+	float                      _global_local_alt0{NAN};
+
 	/* Time abstraction */
 	static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
+
 	float _time{}; /**< passed time in seconds since the task was activated */
 	float _deltatime{}; /**< passed time in seconds since the task was last updated */
+
 	hrt_abstime _time_stamp_activate{}; /**< time stamp when task was activated */
 	hrt_abstime _time_stamp_current{}; /**< time stamp at the beginning of the current task update */
 	hrt_abstime _time_stamp_last{}; /**< time stamp when task was last updated */
@@ -223,6 +229,7 @@ protected:
 	/* Current vehicle state */
 	matrix::Vector3f _position; /**< current vehicle position */
 	matrix::Vector3f _velocity; /**< current vehicle velocity */
+
 	float _yaw{}; /**< current vehicle yaw heading */
 	float _dist_to_bottom{}; /**< current height above ground level */
 	float _dist_to_ground{}; /**< equals _dist_to_bottom if valid, height above home otherwise */
@@ -239,8 +246,10 @@ protected:
 	matrix::Vector3f _velocity_setpoint;
 	matrix::Vector3f _acceleration_setpoint;
 	matrix::Vector3f _jerk_setpoint;
+
 	float _yaw_setpoint{};
 	float _yawspeed_setpoint{};
+
 	matrix::Vector3f _velocity_setpoint_feedback;
 	matrix::Vector3f _acceleration_setpoint_feedback;
 

src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp

@@ -76,22 +76,15 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
 	// save current yaw estimate for ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING
 	_initial_heading = _yaw;
 
-	// TODO: apply x,y / z independently in geo library
 	// commanded center coordinates
-	// if(PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) {
+	if (map_projection_initialized(&_global_local_proj_ref)) {
-	// 	map_projection_global_project(command.param5, command.param6, &_center(0), &_center(1));
+		if (PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) {
-	// }
+			map_projection_global_project(command.param5, command.param6, &_center(0), &_center(1));
-
+		}
-	// commanded altitude
+
-	// if(PX4_ISFINITE(command.param7)) {
+		// commanded altitude
-	// 	_position_setpoint(2) = gl_ref.alt - command.param7;
+		if (PX4_ISFINITE(command.param7)) {
-	// }
+			_position_setpoint(2) = _global_local_alt0 - command.param7;
-
-	if (PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6) && PX4_ISFINITE(command.param7)) {
-		if (globallocalconverter_tolocal(command.param5, command.param6, command.param7, &_center(0), &_center(1),
-						 &_position_setpoint(2))) {
-			// global to local conversion failed
-			ret = false;
 		}
 	}
 
@@ -109,8 +102,12 @@ bool FlightTaskOrbit::sendTelemetry()
 	orbit_status.frame = 0; // MAV_FRAME::MAV_FRAME_GLOBAL
 	orbit_status.yaw_behaviour = _yaw_behaviour;
 
-	if (globallocalconverter_toglobal(_center(0), _center(1), _position_setpoint(2), &orbit_status.x, &orbit_status.y,
+	if (map_projection_initialized(&_global_local_proj_ref)) {
-					  &orbit_status.z)) {
+		// local -> global
+		map_projection_reproject(&_global_local_proj_ref, _center(0), _center(1), &orbit_status.x, &orbit_status.y);
+		orbit_status.z = _global_local_alt0 - _position_setpoint(2);
+
+	} else {
 		return false; // don't send the message if the transformation failed
 	}
 

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -106,7 +106,6 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 
 	// local to global coversion related variables
 	_is_global_cov_init(false),
-	_global_ref_timestamp(0.0),
 	_ref_lat(0.0),
 	_ref_lon(0.0),
 	_ref_alt(0.0)
@@ -168,6 +167,23 @@ void BlockLocalPositionEstimator::Run()
 		return;
 	}
 
+	if (_vehicle_command_sub.updated()) {
+		vehicle_command_s vehicle_command;
+
+		if (_vehicle_command_sub.update(&vehicle_command)) {
+			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN) {
+				const double latitude = vehicle_command.param5;
+				const double longitude = vehicle_command.param6;
+				const float altitude = vehicle_command.param7;
+
+				map_projection_init_timestamped(&_global_local_proj_ref, latitude, longitude, vehicle_command.timestamp);
+				_global_local_alt0 = altitude;
+
+				PX4_INFO("New NED origin (LLA): %3.10f, %3.10f, %4.3f\n", latitude, longitude, static_cast<double>(altitude));
+			}
+		}
+	}
+
 	sensor_combined_s imu;
 
 	if (!_sensors_sub.update(&imu)) {

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -12,6 +12,7 @@
 // uORB Subscriptions
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
@@ -264,7 +265,7 @@ private:
 	uORB::SubscriptionCallbackWorkItem _sensors_sub{this, ORB_ID(sensor_combined)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
+	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::SubscriptionData<actuator_armed_s> _sub_armed{ORB_ID(actuator_armed)};
 	uORB::SubscriptionData<vehicle_land_detected_s> _sub_land{ORB_ID(vehicle_land_detected)};
 	uORB::SubscriptionData<vehicle_attitude_s> _sub_att{ORB_ID(vehicle_attitude)};
@@ -295,6 +296,9 @@ private:
 	// map projection
 	struct map_projection_reference_s _map_ref;
 
+	map_projection_reference_s _global_local_proj_ref{};
+	float                      _global_local_alt0{NAN};
+
 	// target mode paramters from landing_target_estimator module
 	enum TargetMode {
 		Target_Moving = 0,
@@ -379,7 +383,6 @@ private:
 
 	// local to global coversion related variables
 	bool _is_global_cov_init;
-	uint64_t _global_ref_timestamp;
 	double _ref_lat;
 	double _ref_lon;
 	float _ref_alt;

src/modules/local_position_estimator/sensors/mocap.cpp

@@ -37,9 +37,11 @@ void BlockLocalPositionEstimator::mocapInit()
 		_sensorFault &= ~SENSOR_MOCAP;
 
 		// get reference for global position
-		globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt);
+		_ref_lat = math::degrees(_global_local_proj_ref.lat_rad);
-		_global_ref_timestamp = _timeStamp;
+		_ref_lon = math::degrees(_global_local_proj_ref.lon_rad);
-		_is_global_cov_init = globallocalconverter_initialized();
+		_ref_alt = _global_local_alt0;
+
+		_is_global_cov_init = map_projection_initialized(&_global_local_proj_ref);
 
 		if (!_map_ref.init_done && _is_global_cov_init && !_visionUpdated) {
 			// initialize global origin using the mocap estimator reference (only if the vision estimation is not being fused as well)
@@ -53,7 +55,7 @@ void BlockLocalPositionEstimator::mocapInit()
 		if (!_altOriginInitialized) {
 			_altOriginInitialized = true;
 			_altOriginGlobal = true;
-			_altOrigin = globallocalconverter_initialized() ? _ref_alt : 0.0f;
+			_altOrigin = map_projection_initialized(&_global_local_proj_ref) ? _ref_alt : 0.0f;
 		}
 	}
 }

src/modules/local_position_estimator/sensors/vision.cpp

@@ -42,9 +42,11 @@ void BlockLocalPositionEstimator::visionInit()
 		_sensorFault &= ~SENSOR_VISION;
 
 		// get reference for global position
-		globallocalconverter_getref(&_ref_lat, &_ref_lon, &_ref_alt);
+		_ref_lat = math::degrees(_global_local_proj_ref.lat_rad);
-		_global_ref_timestamp = _timeStamp;
+		_ref_lon = math::degrees(_global_local_proj_ref.lon_rad);
-		_is_global_cov_init = globallocalconverter_initialized();
+		_ref_alt = _global_local_alt0;
+
+		_is_global_cov_init = map_projection_initialized(&_global_local_proj_ref);
 
 		if (!_map_ref.init_done && _is_global_cov_init) {
 			// initialize global origin using the visual estimator reference
@@ -58,7 +60,7 @@ void BlockLocalPositionEstimator::visionInit()
 		if (!_altOriginInitialized) {
 			_altOriginInitialized = true;
 			_altOriginGlobal = true;
-			_altOrigin = globallocalconverter_initialized() ? _ref_alt : 0.0f;
+			_altOrigin = map_projection_initialized(&_global_local_proj_ref) ? _ref_alt : 0.0f;
 		}
 	}
 }

src/modules/mavlink/mavlink_command_sender.cpp

@@ -65,8 +65,13 @@ MavlinkCommandSender::~MavlinkCommandSender()
 	px4_sem_destroy(&_lock);
 }
 
-int MavlinkCommandSender::handle_vehicle_command(const struct vehicle_command_s &command, mavlink_channel_t channel)
+int MavlinkCommandSender::handle_vehicle_command(const vehicle_command_s &command, mavlink_channel_t channel)
 {
+	// commands > uint16 are PX4 internal only
+	if (command.command >= vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
+		return 0;
+	}
+
 	lock();
 	CMD_DEBUG("new command: %d (channel: %d)", command.command, channel);
 

src/modules/mavlink/mavlink_main.cpp

@@ -2298,7 +2298,7 @@ Mavlink::task_main(int argc, char *argv[])
 			vehicle_command_ack_s command_ack;
 
 			while ((get_free_tx_buf() >= COMMAND_ACK_TOTAL_LEN) && _vehicle_command_ack_sub.update(&command_ack)) {
-				if (!command_ack.from_external) {
+				if (!command_ack.from_external && command_ack.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
 					mavlink_command_ack_t msg;
 					msg.result = command_ack.result;
 					msg.command = command_ack.command;

src/modules/mavlink/mavlink_messages.cpp

@@ -537,7 +537,7 @@ protected:
 						_vehicle_command_sub.get_last_generation());
 				}
 
-				if (!cmd.from_external) {
+				if (!cmd.from_external && cmd.command < vehicle_command_s::VEHICLE_CMD_PX4_INTERNAL_START) {
 					PX4_DEBUG("sending command %d to %d/%d", cmd.command, cmd.target_system, cmd.target_component);
 
 					MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());

src/modules/mavlink/mavlink_receiver.cpp

@@ -987,20 +987,20 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
 			vehicle_local_position_s local_pos{};
 			_vehicle_local_position_sub.copy(&local_pos);
 
-			if (!map_projection_initialized(&_global_local_proj_ref)
+			if (!local_pos.xy_global || !local_pos.z_global) {
-			    || (_global_local_proj_ref.timestamp != local_pos.ref_timestamp)) {
+				return;
-
-				map_projection_init_timestamped(&_global_local_proj_ref, local_pos.ref_lat, local_pos.ref_lon, local_pos.ref_timestamp);
-				_global_local_alt0 = local_pos.ref_alt;
 			}
 
+			map_projection_reference_s global_local_proj_ref{};
+			map_projection_init_timestamped(&global_local_proj_ref, local_pos.ref_lat, local_pos.ref_lon, local_pos.ref_timestamp);
+
 			// global -> local
 			const double lat = target_global_int.lat_int / 1e7;
 			const double lon = target_global_int.lon_int / 1e7;
-			map_projection_project(&_global_local_proj_ref, lat, lon, &setpoint.x, &setpoint.y);
+			map_projection_project(&global_local_proj_ref, lat, lon, &setpoint.x, &setpoint.y);
 
 			if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_INT) {
-				setpoint.z = _global_local_alt0 - target_global_int.alt;
+				setpoint.z = local_pos.ref_alt - target_global_int.alt;
 
 			} else if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_RELATIVE_ALT_INT) {
 				home_position_s home_position{};
@@ -1008,7 +1008,7 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
 
 				if (home_position.valid_alt) {
 					const float alt = home_position.alt - target_global_int.alt;
-					setpoint.z = alt - _global_local_alt0;
+					setpoint.z = alt - local_pos.ref_alt;
 
 				} else {
 					// home altitude required
@@ -1021,7 +1021,7 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
 
 				if (vehicle_global_position.terrain_alt_valid) {
 					const float alt = target_global_int.alt + vehicle_global_position.terrain_alt;
-					setpoint.z = _global_local_alt0 - alt;
+					setpoint.z = local_pos.ref_alt - alt;
 
 				} else {
 					// valid terrain alt required
@@ -1152,14 +1152,23 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 void
 MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg)
 {
-	mavlink_set_gps_global_origin_t origin;
+	mavlink_set_gps_global_origin_t gps_global_origin;
-	mavlink_msg_set_gps_global_origin_decode(msg, &origin);
+	mavlink_msg_set_gps_global_origin_decode(msg, &gps_global_origin);
-
+
-	if (!globallocalconverter_initialized() && (origin.target_system == _mavlink->get_system_id())) {
+	if (gps_global_origin.target_system == _mavlink->get_system_id()) {
-		/* Set reference point conversion of local coordiantes <--> global coordinates */
+		vehicle_command_s vcmd{};
-		globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7,
+		vcmd.param5 = (double)gps_global_origin.latitude * 1.e-7;
-					  (float)origin.altitude * 1.0e-3f, hrt_absolute_time());
+		vcmd.param6 = (double)gps_global_origin.longitude * 1.e-7;
-		_global_ref_timestamp = hrt_absolute_time();
+		vcmd.param7 = (float)gps_global_origin.altitude * 1.e-3f;
+		vcmd.command = vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN;
+		vcmd.target_system = _mavlink->get_system_id();
+		vcmd.target_component = MAV_COMP_ID_ALL;
+		vcmd.source_system = msg->sysid;
+		vcmd.source_component = msg->compid;
+		vcmd.confirmation = false;
+		vcmd.from_external = true;
+		vcmd.timestamp = hrt_absolute_time();
+		_cmd_pub.publish(vcmd);
 	}
 
 	handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN);
@@ -2484,34 +2493,32 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 
 	/* local position */
 	{
-		double lat = hil_state.lat * 1e-7;
+		const double lat = hil_state.lat * 1e-7;
-		double lon = hil_state.lon * 1e-7;
+		const double lon = hil_state.lon * 1e-7;
 
-		if (!_hil_local_proj_inited) {
+		map_projection_reference_s global_local_proj_ref;
-			_hil_local_proj_inited = true;
+		map_projection_init(&global_local_proj_ref, lat, lon);
-			_hil_local_alt0 = hil_state.alt / 1000.0f;
 
-			map_projection_init(&_hil_local_proj_ref, lat, lon);
+		float global_local_alt0 = hil_state.alt / 1000.f;
-		}
 
 		float x = 0.0f;
 		float y = 0.0f;
-		map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
+		map_projection_project(&global_local_proj_ref, lat, lon, &x, &y);
 
 		vehicle_local_position_s hil_local_pos{};
 		hil_local_pos.timestamp = timestamp;
 
-		hil_local_pos.ref_timestamp = _hil_local_proj_ref.timestamp;
+		hil_local_pos.ref_timestamp = global_local_proj_ref.timestamp;
-		hil_local_pos.ref_lat = math::radians(_hil_local_proj_ref.lat_rad);
+		hil_local_pos.ref_lat = math::degrees(global_local_proj_ref.lat_rad);
-		hil_local_pos.ref_lon = math::radians(_hil_local_proj_ref.lon_rad);
+		hil_local_pos.ref_lon = math::degrees(global_local_proj_ref.lon_rad);
-		hil_local_pos.ref_alt = _hil_local_alt0;
+		hil_local_pos.ref_alt = global_local_alt0;
 		hil_local_pos.xy_valid = true;
 		hil_local_pos.z_valid = true;
 		hil_local_pos.v_xy_valid = true;
 		hil_local_pos.v_z_valid = true;
 		hil_local_pos.x = x;
 		hil_local_pos.y = y;
-		hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f;
+		hil_local_pos.z = global_local_alt0 - hil_state.alt / 1000.0f;
 		hil_local_pos.vx = hil_state.vx / 100.0f;
 		hil_local_pos.vy = hil_state.vy / 100.0f;
 		hil_local_pos.vz = hil_state.vz / 100.0f;

src/modules/mavlink/mavlink_receiver.h

@@ -395,10 +395,10 @@ private:
 	uORB::PublicationMulti<radio_status_s>			_radio_status_pub{ORB_ID(radio_status)};
 
 	// ORB publications (queue length > 1)
-	uORB::Publication<gps_inject_data_s>	_gps_inject_data_pub{ORB_ID(gps_inject_data)};
+	uORB::Publication<gps_inject_data_s>     _gps_inject_data_pub{ORB_ID(gps_inject_data)};
-	uORB::Publication<transponder_report_s>	_transponder_report_pub{ORB_ID(transponder_report)};
+	uORB::Publication<transponder_report_s>  _transponder_report_pub{ORB_ID(transponder_report)};
-	uORB::Publication<vehicle_command_ack_s>	_cmd_ack_pub{ORB_ID(vehicle_command_ack)};
+	uORB::Publication<vehicle_command_s>     _cmd_pub{ORB_ID(vehicle_command)};
-	uORB::Publication<vehicle_command_s>	_cmd_pub{ORB_ID(vehicle_command)};
+	uORB::Publication<vehicle_command_ack_s> _cmd_ack_pub{ORB_ID(vehicle_command_ack)};
 
 	// ORB subscriptions
 	uORB::Subscription	_actuator_armed_sub{ORB_ID(actuator_armed)};
@@ -428,15 +428,6 @@ private:
 	uint8_t				_mom_switch_pos[MOM_SWITCH_COUNT] {};
 	uint16_t			_mom_switch_state{0};
 
-	map_projection_reference_s	_global_local_proj_ref{};
-	float				_global_local_alt0{NAN};
-
-	uint64_t			_global_ref_timestamp{0};
-
-	map_projection_reference_s	_hil_local_proj_ref{};
-	float				_hil_local_alt0{0.0f};
-	bool				_hil_local_proj_inited{false};
-
 	hrt_abstime			_last_utm_global_pos_com{0};
 
 	// Allocated if needed.

src/modules/rover_pos_control/RoverPositionControl.cpp

@@ -410,17 +410,24 @@ RoverPositionControl::Run()
 
 			position_setpoint_triplet_poll();
 
-			//Convert Local setpoints to global setpoints
+			// Convert Local setpoints to global setpoints
 			if (_control_mode.flag_control_offboard_enabled) {
-				if (!globallocalconverter_initialized()) {
+				if (!map_projection_initialized(&_global_local_proj_ref)
-					globallocalconverter_init(_local_pos.ref_lat, _local_pos.ref_lon,
+				    || (_global_local_proj_ref.timestamp != _local_pos.ref_timestamp)) {
-								  _local_pos.ref_alt, _local_pos.ref_timestamp);
 
-				} else {
+					map_projection_init_timestamped(&_global_local_proj_ref, _local_pos.ref_lat, _local_pos.ref_lon,
-					globallocalconverter_toglobal(_pos_sp_triplet.current.x, _pos_sp_triplet.current.y, _pos_sp_triplet.current.z,
+									_local_pos.ref_timestamp);
-								      &_pos_sp_triplet.current.lat, &_pos_sp_triplet.current.lon, &_pos_sp_triplet.current.alt);
 
+					_global_local_alt0 = _local_pos.ref_alt;
 				}
+
+				// local -> global
+				map_projection_reproject(&_global_local_proj_ref,
+							 _pos_sp_triplet.current.x, _pos_sp_triplet.current.y,
+							 &_pos_sp_triplet.current.lat, &_pos_sp_triplet.current.lon);
+
+				_pos_sp_triplet.current.alt = _global_local_alt0 - _pos_sp_triplet.current.z;
+				_pos_sp_triplet.current.valid = true;
 			}
 
 			// update the reset counters in any case

src/modules/rover_pos_control/RoverPositionControl.hpp

@@ -129,6 +129,9 @@ private:
 	hrt_abstime _control_position_last_called{0}; 	/**<last call of control_position  */
 	hrt_abstime _manual_setpoint_last_called{0};
 
+	map_projection_reference_s _global_local_proj_ref{};
+	float                      _global_local_alt0{NAN};
+
 	/* Pid controller for the speed. Here we assume we can control airspeed but the control variable is actually on
 	 the throttle. For now just assuming a proportional scaler between controlled airspeed and throttle output.*/
 	PID_t _speed_ctrl{};

src/modules/simulator/simulator.h

@@ -261,14 +261,8 @@ private:
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 
 	// hil map_ref data
-	struct map_projection_reference_s _hil_local_proj_ref {};
+	map_projection_reference_s	_global_local_proj_ref{};
-
+	float						_global_local_alt0{NAN};
-	bool _hil_local_proj_inited{false};
-
-	double _hil_ref_lat{0};
-	double _hil_ref_lon{0};
-	float _hil_ref_alt{0.0f};
-	uint64_t _hil_ref_timestamp{0};
 
 	vehicle_status_s _vehicle_status{};
 

src/modules/simulator/simulator_mavlink.cpp

@@ -504,25 +504,21 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
 	}
 
 	/* local position */
-	struct vehicle_local_position_s hil_lpos = {};
+	vehicle_local_position_s hil_lpos{};
 	{
 		hil_lpos.timestamp = timestamp;
 
 		double lat = hil_state.lat * 1e-7;
 		double lon = hil_state.lon * 1e-7;
 
-		if (!_hil_local_proj_inited) {
+		if (!map_projection_initialized(&_global_local_proj_ref)) {
-			_hil_local_proj_inited = true;
+			map_projection_init(&_global_local_proj_ref, lat, lon);
-			map_projection_init(&_hil_local_proj_ref, lat, lon);
+			_global_local_alt0 = hil_state.alt / 1000.f;
-			_hil_ref_timestamp = timestamp;
-			_hil_ref_lat = lat;
-			_hil_ref_lon = lon;
-			_hil_ref_alt = hil_state.alt / 1000.0f;
 		}
 
 		float x;
 		float y;
-		map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
+		map_projection_project(&_global_local_proj_ref, lat, lon, &x, &y);
 		hil_lpos.timestamp = timestamp;
 		hil_lpos.xy_valid = true;
 		hil_lpos.z_valid = true;
@@ -530,7 +526,7 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
 		hil_lpos.v_z_valid = true;
 		hil_lpos.x = x;
 		hil_lpos.y = y;
-		hil_lpos.z = _hil_ref_alt - hil_state.alt / 1000.0f;
+		hil_lpos.z = _global_local_alt0 - hil_state.alt / 1000.0f;
 		hil_lpos.vx = hil_state.vx / 100.0f;
 		hil_lpos.vy = hil_state.vy / 100.0f;
 		hil_lpos.vz = hil_state.vz / 100.0f;
@@ -538,10 +534,10 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
 		hil_lpos.heading = euler.psi();
 		hil_lpos.xy_global = true;
 		hil_lpos.z_global = true;
-		hil_lpos.ref_lat = _hil_ref_lat;
+		hil_lpos.ref_timestamp = _global_local_proj_ref.timestamp;
-		hil_lpos.ref_lon = _hil_ref_lon;
+		hil_lpos.ref_lat = math::degrees(_global_local_proj_ref.lat_rad);
-		hil_lpos.ref_alt = _hil_ref_alt;
+		hil_lpos.ref_lon = math::degrees(_global_local_proj_ref.lon_rad);
-		hil_lpos.ref_timestamp = _hil_ref_timestamp;
+		hil_lpos.ref_alt = _global_local_alt0;
 		hil_lpos.vxy_max = std::numeric_limits<float>::infinity();
 		hil_lpos.vz_max = std::numeric_limits<float>::infinity();
 		hil_lpos.hagl_min = std::numeric_limits<float>::infinity();