HACK: add new topic to log vehicle_gps_position w/o lat/lon

Which has the same fields as vehicle_gps_position, but the lat/lon set to 0.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

msg/vehicle_gps_position.msg

@@ -42,3 +42,5 @@ float32 heading			# heading angle of XYZ body frame rel to NED. Set to NaN if no
 float32 heading_offset		# heading offset of dual antenna array in body frame. Set to NaN if not applicable. (rad, [-PI, PI])
 
 uint8 selected			# GPS selection: 0: GPS1, 1: GPS2. 2: GPS3. 3. Blending multiple receivers
+
+# TOPICS vehicle_gps_position vehicle_gps_position_wo_lat_lon

src/modules/logger/logged_topics.cpp

@@ -113,6 +113,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("wind", 1000);
 
 	add_topic("vehicle_local_position_wo_ref", 100);
+	add_topic("vehicle_gps_position_wo_lat_lon", 500);
 
 	if (!_do_not_log_position_data) {
 		add_optional_topic("camera_capture");

src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp

@@ -44,6 +44,7 @@ VehicleGPSPosition::VehicleGPSPosition() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
 {
 	_vehicle_gps_position_pub.advertise();
+	_vehicle_gps_position_wo_lat_lon_pub.advertise();
 }
 
 VehicleGPSPosition::~VehicleGPSPosition()
@@ -172,6 +173,12 @@ void VehicleGPSPosition::Publish(const sensor_gps_s &gps, uint8_t selected)
 	gps_output.selected = selected;
 
 	_vehicle_gps_position_pub.publish(gps_output);
+
+	vehicle_gps_position_s gps_output_wo_lat_lon;
+	gps_output_wo_lat_lon = gps_output;
+	gps_output_wo_lat_lon.lat = 0;
+	gps_output_wo_lat_lon.lon = 0;
+	_vehicle_gps_position_wo_lat_lon_pub.publish(gps_output_wo_lat_lon);
 }
 
 void VehicleGPSPosition::PrintStatus()

src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.hpp

@@ -82,6 +82,7 @@ private:
 		      "GPS_MAX_RECEIVERS must match to GPS_MAX_RECEIVERS_BLEND");
 
 	uORB::Publication<vehicle_gps_position_s> _vehicle_gps_position_pub{ORB_ID(vehicle_gps_position)};
+	uORB::Publication<vehicle_gps_position_s> _vehicle_gps_position_wo_lat_lon_pub{ORB_ID(vehicle_gps_position_wo_lat_lon)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};