Send current local position estimate as well

src/modules/commander/commander.cpp

@@ -927,6 +927,14 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
 		}
 
+		/* update local position estimate */
+		orb_check(local_position_sub, &updated);
+
+		if (updated) {
+			/* position changed */
+			orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
+		}
+
 		/* update condition_global_position_valid */
 		/* hysteresis for EPH/EPV */
 		bool eph_epv_good;
@@ -952,6 +960,10 @@ int commander_thread_main(int argc, char *argv[])
 			home.lon = global_position.lon;
 			home.alt = global_position.alt;
 
+			home.x = local_position.x;
+			home.y = local_position.y;
+			home.z = local_position.z;
+
 			warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
 			mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
 
@@ -968,14 +980,6 @@ int commander_thread_main(int argc, char *argv[])
 			tune_positive(true);
 		}
 
-		/* update local position estimate */
-		orb_check(local_position_sub, &updated);
-
-		if (updated) {
-			/* position changed */
-			orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
-		}
-
 		/* update condition_local_position_valid and condition_local_altitude_valid */
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed);
 		check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
@@ -1338,6 +1342,10 @@ int commander_thread_main(int argc, char *argv[])
 				home.lon = global_position.lon;
 				home.alt = global_position.alt;
 
+				home.x = local_position.x;
+				home.y = local_position.y;
+				home.z = local_position.z;
+
 				warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
 				mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
 

src/modules/uORB/topics/home_position.h

@@ -59,10 +59,13 @@ struct home_position_s
 {
 	uint64_t timestamp;			/**< Timestamp (microseconds since system boot)	*/
 
-	//bool altitude_is_relative;	// TODO what means home relative altitude? we need clear definition of reference altitude then
 	double lat;				/**< Latitude in degrees 			*/
 	double lon;				/**< Longitude in degrees			*/
 	float alt;				/**< Altitude in meters				*/
+
+	float x;				/**< X coordinate in meters			*/
+	float y;				/**< Y coordinate in meters			*/
+	float z;				/**< Z coordinate in meters			*/
 };
 
 /**