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feat(mavlink): Support MAV_CMD_DO_SET_GLOBAL_ORIGIN #24697

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Merged
julianoes merged 1 commit into from
Jul 1, 2026
+9 −3
Merged

feat(mavlink): Support MAV_CMD_DO_SET_GLOBAL_ORIGIN #24697

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1 change: 1 addition & 0 deletions msg/versioned/VehicleCommand.msg
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Expand Up @@ -128,6 +128,7 @@ uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehic
uint32 VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN = 100000 # Sets the GPS coordinates of the vehicle local origin (0,0,0) position. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL from GNSS, positive above ground)|
uint32 VEHICLE_CMD_SET_NAV_STATE = 100001 # Change mode by specifying nav_state directly. |nav_state|Unused|Unused|Unused|Unused|Unused|Unused|

uint16 VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN = 611 # Sets GNSS coordinates of the vehicle local origin (0,0,0) position. Send as COMMAND_INT with MAV_FRAME_GLOBAL_INT. |Unused|Unused|Unused|Unused|Latitude (WGS-84)|Longitude (WGS-84)|[m] Altitude (AMSL)|
uint16 VEHICLE_CMD_GUIDED_CHANGE_HEADING = 43002 # Change heading/course. param1: heading type (0=course-over-ground, 1=heading). param2: target [deg]. param3: max rate [deg/s]. |Heading type (HEADING_TYPE enum)|[deg] Target bearing [0..360]|[deg/s] Max rate of change|Unused|Unused|Unused|Unused|

uint8 VEHICLE_MOUNT_MODE_RETRACT = 0 # Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization.
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1 change: 1 addition & 0 deletions src/modules/commander/Commander.cpp
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Expand Up @@ -1707,6 +1707,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
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:
case vehicle_command_s::VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN:
case vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
case vehicle_command_s::VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
case vehicle_command_s::VEHICLE_CMD_CONFIGURE_ACTUATOR:
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3 changes: 2 additions & 1 deletion src/modules/ekf2/EKF2.cpp
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Expand Up @@ -520,7 +520,8 @@ void EKF2::Run()
command_ack.target_system = vehicle_command.source_system;
command_ack.target_component = vehicle_command.source_component;

if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN) {
if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN
|| vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN) {
Comment on lines +523 to +524

@hamishwillee hamishwillee Jun 25, 2026

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FYI. Note, separate handling for new command and the old message-handled as a command - but in the same place. Same update had to happen in BlockLocalPositionEstimator.cpp‎ too.

double latitude = vehicle_command.param5;
double longitude = vehicle_command.param6;
float altitude = vehicle_command.param7;
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3 changes: 2 additions & 1 deletion src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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Expand Up @@ -175,7 +175,8 @@ void BlockLocalPositionEstimator::Run()
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 (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN
|| vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_SET_GLOBAL_ORIGIN) {
const double latitude = vehicle_command.param5;
const double longitude = vehicle_command.param6;
const float altitude = vehicle_command.param7;
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4 changes: 3 additions & 1 deletion src/modules/mavlink/mavlink_receiver.cpp
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Expand Up @@ -550,6 +550,9 @@ MavlinkReceiver::command_has_location(uint16_t command)
case MAV_CMD_DO_SET_ROI: // 201
case MAV_CMD_PAYLOAD_PREPARE_DEPLOY: // 30001
case MAV_CMD_EXTERNAL_POSITION_ESTIMATE: // 43003
#ifdef MAVLINK_ENABLED_DEVELOPMENT
case MAV_CMD_DO_SET_GLOBAL_ORIGIN: // 611
#endif
return true;

// Not supported by PX4 as COMMAND_INT (mission items or unimplemented)
Expand All @@ -575,7 +578,6 @@ MavlinkReceiver::command_has_location(uint16_t command)
// case MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION: // 5003
// case MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION: // 5004
// case MAV_CMD_NAV_RALLY_POINT: // 5100
// case MAV_CMD_DO_SET_GLOBAL_ORIGIN: // 611
// case MAV_CMD_WAYPOINT_USER_1: // 31000
// case MAV_CMD_WAYPOINT_USER_2: // 31001
// case MAV_CMD_WAYPOINT_USER_3: // 31002
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