Getting position data from Gazebo

1

Hi,

I am trying to get the position data from gazebo into the PX4 Firmware (as uORB message, e.g. vehicle_local_position) to use this data in a PX4 app. I am able to get the position data via ROS and publish it to the local_position topic of mavros. How can I get these data via Mavlink to the uORB message?

Best regards,
Nils Rottmann

2

How about HIL_STATE_QUATERNION?
http://mavlink.org/messages/common#HIL_STATE_QUATERNION

That’s how PX4 SITL with gazebo sends position. https://github.com/PX4/Firmware/blob/cd1e04d43cb9c2a2f9110ac8a1808d58fcc24124/src/modules/simulator/simulator_mavlink.cpp#L378