Mavros home_position plugin

ROS / ros eco / packages / mavros

Contains the home position. The home position is the default position that the system will return to and land on (RTL). Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach

Get and Set home_position using mavlink message HOME_POSITION and SET_HOME_POSITION

SET_HOME_POSITION deprecated

Replace by MAV_CMD_DO_SET_HOME (179) The command expose by command plugin

Mavros

Publish home position as mavros_msgs::msg::HomePosition message under topic ` ~/home The message publish once when successful it cancel timer the sendGET_HOME_POSITION` command every 10s

MAV_CMD_GET_HOME_POSITION DEPRECATED

And replace with MAV_CMD_REQUEST_MESSAGE(512)

Ardupilot

The home_position set every time the vehicle ARM and can be change using MAV_CMD_DO_SET_HOME mavlink message

EKF Origin

The “EKF origin” is the location that the EKF (aka AHRS) uses for internal calculations. This location is normally set to the vehicle’s location soon after the GPS provides a good quality location,Once set the EKF origin cannot be moved, the EKF origin publish my GPS_GLOBAL_ORIGIN and handle by MAVROS global_position plugin.