Mavlink: Stream the received auxiliary global position from dds over Mavlink

src/modules/mavlink/mavlink_main.cpp

@@ -1434,6 +1434,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
+		configure_stream_local("GLOBAL_POSITION", 5.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
 		configure_stream_local("GPS2_RAW", 1.0f);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
@@ -1766,6 +1767,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
+		configure_stream_local("GLOBAL_POSITION", 10.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS2_RAW", unlimited_rate);

src/modules/mavlink/mavlink_messages.cpp

@@ -75,6 +75,9 @@
 #include "streams/ESTIMATOR_STATUS.hpp"
 #include "streams/EXTENDED_SYS_STATE.hpp"
 #include "streams/FLIGHT_INFORMATION.hpp"
+#if defined(MAVLINK_MSG_ID_GLOBAL_POSITION)
+#include "streams/GLOBAL_POSITION.hpp"
+#endif //MAVLINK_MSG_ID_GLOBAL_POSITION
 #include "streams/GLOBAL_POSITION_INT.hpp"
 #include "streams/GPS_GLOBAL_ORIGIN.hpp"
 #include "streams/GPS_RAW_INT.hpp"
@@ -510,6 +513,9 @@ static const StreamListItem streams_list[] = {
 #if defined(CURRENT_MODE_HPP)
 	create_stream_list_item<MavlinkStreamCurrentMode>(),
 #endif // CURRENT_MODE_HPP
+#if defined(GLOBAL_POSITION_HPP)
+	create_stream_list_item<MavlinkStreamGLobalPosition>(),
+#endif // GLOBAL_POSITION_HPP
 };
 
 const char *get_stream_name(const uint16_t msg_id)

src/modules/mavlink/streams/GLOBAL_POSITION.hpp

@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef GLOBAL_POSITION_HPP
+#define GLOBAL_POSITION_HPP
+
+#include <stdint.h>
+
+#include <uORB/topics/vehicle_global_position.h>
+
+class MavlinkStreamGLobalPosition : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGLobalPosition(mavlink); }
+
+	static constexpr const char *get_name_static() { return "GLOBAL_POSITION"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GLOBAL_POSITION; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _aux_global_position_sub.advertised() ? (MAVLINK_MSG_ID_GLOBAL_POSITION_LEN +
+				MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	explicit MavlinkStreamGLobalPosition(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _aux_global_position_sub{ORB_ID(aux_global_position)};
+
+	bool send() override
+	{
+		vehicle_global_position_s pos{};
+
+		if (_aux_global_position_sub.update(&pos)) {
+			mavlink_global_position_t msg{};
+
+			msg.id = UINT8_C(1);
+			msg.time_usec = pos.timestamp;
+			msg.source = GLOBAL_POSITION_UNKNOWN;
+			msg.flags = 0;
+
+			if (PX4_ISFINITE(pos.lat)) {
+				msg.lat = static_cast<int32_t>(pos.lat * 1e7);
+
+			} else {
+				msg.lat = INT32_MAX;
+			}
+
+			if (PX4_ISFINITE(pos.lon)) {
+				msg.lon = static_cast<int32_t>(pos.lon * 1e7);
+
+			} else {
+				msg.lon = INT32_MAX;
+			}
+
+			msg.alt = pos.alt;
+			msg.alt_ellipsoid = pos.alt_ellipsoid;
+
+			msg.eph = pos.eph;
+			msg.epv = pos.epv;
+
+
+			mavlink_msg_global_position_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // GLOBAL_POSITION_HPP