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According to the mavlink spec we should be publishing the home attitude as a quaternion rather than just the yaw/heading. Additionally, this allows setting the landing roll and pitch angle using DO_SET_HOME (this yet needs to go into the MAVLink spec though). This time including the message versioning and translation.
26 lines
799 B
Plaintext
26 lines
799 B
Plaintext
# GPS home position in WGS84 coordinates.
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uint32 MESSAGE_VERSION = 1
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uint64 timestamp # time since system start (microseconds)
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float64 lat # Latitude in degrees
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float64 lon # Longitude in degrees
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float32 alt # Altitude in meters (AMSL)
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float32 x # X coordinate in meters
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float32 y # Y coordinate in meters
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float32 z # Z coordinate in meters
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float32 roll # Pitch angle in radians
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float32 pitch # Roll angle in radians
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float32 yaw # Yaw angle in radians
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bool valid_alt # true when the altitude has been set
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bool valid_hpos # true when the latitude and longitude have been set
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bool valid_lpos # true when the local position (xyz) has been set
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bool manual_home # true when home position was set manually
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uint32 update_count # update counter of the home position
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