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fix(commander): capture home orientation on ground independent of local position (#27946)

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Claudio Chies
2026-07-21 11:49:06 -07:00
committed by GitHub
parent 841bb40365
commit 282c969687
17 changed files with 289 additions and 28 deletions
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7
msg/versioned/HomePosition.msg
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@@ -1,6 +1,6 @@
# GPS home position in WGS84 coordinates.
uint32 MESSAGE_VERSION = 1
uint32 MESSAGE_VERSION = 2
uint64 timestamp # time since system start (microseconds)
@@ -12,13 +12,14 @@ float32 x # X coordinate in meters
float32 y # Y coordinate in meters
float32 z # Z coordinate in meters
float32 roll # Pitch angle in radians
float32 pitch # Roll angle in radians
float32 roll # Roll angle in radians
float32 pitch # Pitch angle in radians
float32 yaw # Yaw angle in radians
bool valid_alt # true when the altitude has been set
bool valid_hpos # true when the latitude and longitude have been set
bool valid_lpos # true when the local position (xyz) has been set
bool valid_attitude # true when the orientation (roll, pitch, yaw) has been set
bool manual_home # true when home position was set manually