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/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -12,6 +12,7 @@
 // uORB Subscriptions
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
@@ -264,7 +265,7 @@ private:
 	uORB::SubscriptionCallbackWorkItem _sensors_sub{this, ORB_ID(sensor_combined)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
+	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::SubscriptionData<actuator_armed_s> _sub_armed{ORB_ID(actuator_armed)};
 	uORB::SubscriptionData<vehicle_land_detected_s> _sub_land{ORB_ID(vehicle_land_detected)};
 	uORB::SubscriptionData<vehicle_attitude_s> _sub_att{ORB_ID(vehicle_attitude)};
@@ -295,6 +296,9 @@ private:
 	// map projection
 	struct map_projection_reference_s _map_ref;
 
+	map_projection_reference_s _global_local_proj_ref{};
+	float                      _global_local_alt0{NAN};
+
 	// target mode paramters from landing_target_estimator module
 	enum TargetMode {
 		Target_Moving = 0,
@@ -379,7 +383,6 @@ private:
 
 	// local to global coversion related variables
 	bool _is_global_cov_init;
-	uint64_t _global_ref_timestamp;
 	double _ref_lat;
 	double _ref_lon;
 	float _ref_alt;