Add UTM_GLOBAL_POSITION MAVLink stream #10873
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@eyeam3 Can you please rebase? Thanks! |
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LorenzMeier
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Nov 22, 2018
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Thanks! |
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Test data / coverage
Tested SITL and on Pixhawk 4.
Describe problem solved by the proposed pull request
Due to recent developments with regards to UTM services and different regional UTM efforts, a generalized interface should be defined to communicate the vehicles information and state to an external UTM service. The MAVLink stream contains a field for a unique identifier and provides information on the vehicle's status and current mission goal. Depending on the capabilities of the vehicle or the current flight state, selected fields can be invalidated using a data available flag.
Describe your preferred solution
Include UTM_GLOBAL_POSITION as a new MAVLink stream. Moreover, in order to fill the altitude with WGS84 data, a filter for ellipsoid altitude was added to EKF2.
Describe possible alternatives
Additional context
Based on: mavlink/mavlink#1009 and mavlink/rfcs#10.