How to set up ekf origin using mavsdk

MAVSDK
1

I learned that the px4 source code supports specifying the ekf origin. I use mavsdk::MavlinkPassthrough::queue_message() to send the GPS_GLOBAL_ORIGIN message. But this doesn’t seem to work in the simulation.

 const MavlinkPassthrough::Result pass_result = mavlink_passthrough.queue_message([microseconds](MavlinkAddress mavlink_address,uint8_t channel)->mavlink_message_t{
        mavlink_message_t msg;
        mavlink_address.system_id=1;
        mavlink_address.component_id=1;
        mavlink_msg_gps_global_origin_pack_chan(
            mavlink_address.system_id,
            mavlink_address.component_id,
            MAVLINK_COMM_0,
            &msg,
            41.15403,
            116.2593928,
            57.982,
            microseconds
        );
        return msg;
    });

Can anyone give some advice, I would be grateful

1 Like
2

Have you found a solution for this or an alternative on how to set the GPS_GLOBAL_ORIGIN ?