mavlink_receiver: use SET_GPS_GLOBAL_ORIGIN to set the origin

The message GPS_GLOBAL_ORIGIN is meant as a telemtry information message
to send out the components reference and not to set it. I had to switch
to listen to SET_GPS_GLOBAL_ORIGIN such that I can implement sending out
GPS_GLOBAL_ORIGIN.

src/modules/mavlink/mavlink_receiver.cpp

@@ -162,8 +162,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_odometry(msg);
 		break;
 
-	case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
-		handle_message_gps_global_origin(msg);
+	case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
+		handle_message_set_gps_global_origin(msg);
 		break;
 
 	case MAVLINK_MSG_ID_RADIO_STATUS:
@@ -1218,17 +1218,16 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 }
 
 void
-MavlinkReceiver::handle_message_gps_global_origin(mavlink_message_t *msg)
+MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg)
 {
-	mavlink_gps_global_origin_t origin;
-	mavlink_msg_gps_global_origin_decode(msg, &origin);
+	mavlink_set_gps_global_origin_t origin;
+	mavlink_msg_set_gps_global_origin_decode(msg, &origin);
 
-	if (!globallocalconverter_initialized()) {
+	if (!globallocalconverter_initialized() && (origin.target_system == _mavlink->get_system_id())) {
 		/* Set reference point conversion of local coordiantes <--> global coordinates */
 		globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7,
 					  (float)origin.altitude * 1.0e-3f, hrt_absolute_time());
 		_global_ref_timestamp = hrt_absolute_time();
-
 	}
 }
 

src/modules/mavlink/mavlink_receiver.h

@@ -150,7 +150,7 @@ private:
 	void handle_message_distance_sensor(mavlink_message_t *msg);
 	void handle_message_follow_target(mavlink_message_t *msg);
 	void handle_message_generator_status(mavlink_message_t *msg);
-	void handle_message_gps_global_origin(mavlink_message_t *msg);
+	void handle_message_set_gps_global_origin(mavlink_message_t *msg);
 	void handle_message_gps_rtcm_data(mavlink_message_t *msg);
 	void handle_message_heartbeat(mavlink_message_t *msg);
 	void handle_message_hil_gps(mavlink_message_t *msg);