ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage

- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink

src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp

@@ -53,6 +53,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
 #include <uORB/topics/home_position.h>
+#include <lib/ecl/geo/geo.h>
 #include <lib/weather_vane/WeatherVane.hpp>
 
 struct ekf_reset_counters_s {
@@ -212,10 +213,15 @@ protected:
 	virtual void _ekfResetHandlerVelocityZ() {};
 	virtual void _ekfResetHandlerHeading(float delta_psi) {};
 
+	map_projection_reference_s _global_local_proj_ref{};
+	float                      _global_local_alt0{NAN};
+
 	/* Time abstraction */
 	static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
+
 	float _time{}; /**< passed time in seconds since the task was activated */
 	float _deltatime{}; /**< passed time in seconds since the task was last updated */
+
 	hrt_abstime _time_stamp_activate{}; /**< time stamp when task was activated */
 	hrt_abstime _time_stamp_current{}; /**< time stamp at the beginning of the current task update */
 	hrt_abstime _time_stamp_last{}; /**< time stamp when task was last updated */
@@ -223,6 +229,7 @@ protected:
 	/* Current vehicle state */
 	matrix::Vector3f _position; /**< current vehicle position */
 	matrix::Vector3f _velocity; /**< current vehicle velocity */
+
 	float _yaw{}; /**< current vehicle yaw heading */
 	float _dist_to_bottom{}; /**< current height above ground level */
 	float _dist_to_ground{}; /**< equals _dist_to_bottom if valid, height above home otherwise */
@@ -239,8 +246,10 @@ protected:
 	matrix::Vector3f _velocity_setpoint;
 	matrix::Vector3f _acceleration_setpoint;
 	matrix::Vector3f _jerk_setpoint;
+
 	float _yaw_setpoint{};
 	float _yawspeed_setpoint{};
+
 	matrix::Vector3f _velocity_setpoint_feedback;
 	matrix::Vector3f _acceleration_setpoint_feedback;