I have a question about Home Position and NED Frame.
I am working on offboard NED velocity guidance and I have noticed that, every time the drone takes off, the Home Position is updated to the current GPS position. On the contrary, it seems to me that the position that is used as reference for the NED frame is always the GPS position of the first GPS fix and it is never updated afterward.
This really messes with my algorithms because, if I restart the offboard program without having first turned off and on the UAV, I have no way to know the Geographic position of the NED reference point.
So, my question is:“Is there a way to update or just to get the NED reference GPS point used internally by PX4?”
Thank you so much