commander/mavlink: use home attitude, not only yaw

According to the mavlink spec we should be publishing the home attitude
as a quaternion rather than just the yaw/heading.

Additionally, this allows setting the landing roll and pitch angle using
DO_SET_HOME (this yet needs to go into the MAVLink spec though).

This time including the message versioning and translation.

msg/px4_msgs_old/msg/HomePositionV0.msg

@@ -0,0 +1,23 @@
+# GPS home position in WGS84 coordinates.
+
+uint32 MESSAGE_VERSION = 0
+
+uint64 timestamp			# time since system start (microseconds)
+
+float64 lat				# Latitude in degrees
+float64 lon				# Longitude in degrees
+float32 alt				# Altitude in meters (AMSL)
+
+float32 x				# X coordinate in meters
+float32 y				# Y coordinate in meters
+float32 z				# Z coordinate in meters
+
+float32 yaw				# Yaw angle in radians
+
+bool valid_alt		# true when the altitude has been set
+bool valid_hpos		# true when the latitude and longitude have been set
+bool valid_lpos		# true when the local position (xyz) has been set
+
+bool manual_home	# true when home position was set manually
+
+uint32 update_count 	# update counter of the home position

msg/translation_node/translations/all_translations.h

@@ -10,5 +10,6 @@
 #include "translation_arming_check_reply_v1.h"
 #include "translation_battery_status_v1.h"
 #include "translation_event_v1.h"
+#include "translation_home_position_v1.h"
 #include "translation_vehicle_attitude_setpoint_v1.h"
 #include "translation_vehicle_status_v1.h"

msg/translation_node/translations/translation_home_position_v1.h

@@ -0,0 +1,65 @@
+/****************************************************************************
+ * Copyright (c) 2025 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate HomePosition v0 <--> v1
+#include <px4_msgs_old/msg/home_position_v0.hpp>
+#include <px4_msgs/msg/home_position.hpp>
+
+class HomePositionV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::HomePositionV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::HomePosition;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/out/home_position";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+
+		// Update for HomePosition
+	
+		// Set msg_newer from msg_older
+		msg_newer.timestamp = msg_older.timestamp;
+		msg_newer.lat = msg_older.lat;
+		msg_newer.lon = msg_older.lon;
+		msg_newer.alt = msg_older.alt;
+		msg_newer.x = msg_older.x;
+		msg_newer.y = msg_older.y;
+		msg_newer.z = msg_older.z;
+		msg_newer.roll = 0.0f;  // New field in v1, set to 0
+		msg_newer.pitch = 0.0f; // New field in v1, set to 0
+		msg_newer.yaw = msg_older.yaw;
+		msg_newer.valid_alt = msg_older.valid_alt;
+		msg_newer.valid_hpos = msg_older.valid_hpos;
+		msg_newer.valid_lpos = msg_older.valid_lpos;
+		msg_newer.manual_home = msg_older.manual_home;
+		msg_newer.update_count = msg_older.update_count;
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+
+		// Update for HomePosition
+	
+		// Set msg_older from msg_newer
+		msg_older.timestamp = msg_newer.timestamp;
+		msg_older.lat = msg_newer.lat;
+		msg_older.lon = msg_newer.lon;
+		msg_older.alt = msg_newer.alt;
+		msg_older.x = msg_newer.x;
+		msg_older.y = msg_newer.y;
+		msg_older.z = msg_newer.z;
+		// Note: roll and pitch from v1 are ignored in v0
+		msg_older.yaw = msg_newer.yaw;
+		msg_older.valid_alt = msg_newer.valid_alt;
+		msg_older.valid_hpos = msg_newer.valid_hpos;
+		msg_older.valid_lpos = msg_newer.valid_lpos;
+		msg_older.manual_home = msg_newer.manual_home;
+		msg_older.update_count = msg_newer.update_count;
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(HomePositionV1Translation);

msg/versioned/HomePosition.msg

@@ -1,6 +1,6 @@
 # GPS home position in WGS84 coordinates.
 
-uint32 MESSAGE_VERSION = 0
+uint32 MESSAGE_VERSION = 1
 
 uint64 timestamp			# time since system start (microseconds)
 
@@ -12,6 +12,8 @@ float32 x				# X coordinate in meters
 float32 y				# Y coordinate in meters
 float32 z				# Z coordinate in meters
 
+float32 roll				# Pitch angle in radians
+float32 pitch				# Roll angle in radians
 float32 yaw				# Yaw angle in radians
 
 bool valid_alt		# true when the altitude has been set