Dear all,
following up on this discussion I’m looking for a way to manually set the EKF origin. The motivation is to have a common origin among multiple vehicles.
Currently, we apply a primitive patch to the EKF3 that prohibits GPS to set the origin and enables changing the origin.
Then, we set the origin manually through MAVROS’ set_gp_origin
topic which sends a SET_GPS_GLOBAL_ORIGIN message to ArduPilot.
This works but is a bit hacky since the copter now relies on the external software setting the origin and cannot be used anymore for manual or mission flights.
We would like to contribute a method to the ArduCopter firmware that enables to manually set the origin in a coherent and safe way without breaking existing functionality and safety mechanisms.
Could you please share your thoughts
- whether you think this is feasible,
- how ArduCopter would need to be adapted, and
- which safety considerations to keep in mind.
Thank you for your support!