From aa850d5c1c7746bafc1316309928efe4e50969d6 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Tue, 30 Dec 2025 07:31:00 +1300 Subject: [PATCH] mavlink: don't send out GPS_GLOBAL_ORIGIN too early (#26115) This prevents PX4 from sending out the GPS_GLOBAL_ORIGIN message immediately when a SET_GPS_GLOBAL_ORIGIN message arrives. Instead, we apply the new origin in the EKF, and only then send out the new origin, which is much more intuitive and doesn't confuse a user of the API. --- src/modules/mavlink/mavlink_receiver.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 4bccb35b52..8ac70225a0 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1283,8 +1283,6 @@ MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg) vcmd.timestamp = hrt_absolute_time(); _cmd_pub.publish(vcmd); } - - handle_request_message_command(MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN); } #if defined(MAVLINK_MSG_ID_SET_VELOCITY_LIMITS) // For now only defined if development.xml is used