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commander/mavlink: use home attitude, not only yaw

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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.
This commit is contained in:
Julian Oes
2025-07-20 07:51:14 +12:00
parent 2065f577d6
commit 2c97a875bf
8 changed files with 124 additions and 15 deletions
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msg/versioned/HomePosition.msg
+3 -1
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@@ -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