Hello, I am new to drone programming and I wanted to know how to combine global and local path planners: I have a map, i know where to go (this is what I call global path), then I have an environment where I want to navigate, how can I do it? I mean follow trajectory while planning locally?
From what I understand you say is that you want to be able to take GPS coordinates and transform them into local coordinates to navigate using them?
If that is what you want I would suggest taking your current and desired position and make it into a UTM coordinate and then comparing the position of the current and desired position and sending the difference to the PX4 using MavLink. This will require you to fly in offboard mode and probably attach a companion computer to the drone.