px4_ros2::HomePositionSetter Class Reference

Utility to set the vehicle's home position and GPS global origin. More...

#include <px4_ros2/vehicle_state/home_position_setter.hpp>

Public Member Functions
	HomePositionSetter (Context &context)
Result	setHomeToCurrentPosition ()
	Set the home position to the current vehicle position.
Result	setHome (double latitude, double longitude, float altitude)
	Set the home position to a specific global coordinate.
Result	setGpsGlobalOrigin (double latitude, double longitude, float altitude)
	Set the GPS global origin (EKF reference point).

Detailed Description

Utility to set the vehicle's home position and GPS global origin.

Sends VEHICLE_CMD_DO_SET_HOME and VEHICLE_CMD_SET_GPS_GLOBAL_ORIGIN commands to PX4 via the vehicle_command topic and waits for an ACK.

Member Function Documentation

setGpsGlobalOrigin()

Result px4_ros2::HomePositionSetter::setGpsGlobalOrigin	(	double	latitude,
		double	longitude,
		float	altitude
	)

Set the GPS global origin (EKF reference point).

Parameters

latitude	[deg]
longitude	[deg]
altitude	[m AMSL]

Returns

Result::Success on ACK accepted, error otherwise.

setHome()

Result px4_ros2::HomePositionSetter::setHome	(	double	latitude,
		double	longitude,
		float	altitude
	)

Set the home position to a specific global coordinate.

Parameters

latitude	[deg]
longitude	[deg]
altitude	[m AMSL]

Returns

Result::Success on ACK accepted, error otherwise.

setHomeToCurrentPosition()

Result px4_ros2::HomePositionSetter::setHomeToCurrentPosition

(

)

Set the home position to the current vehicle position.

Returns

Result::Success on ACK accepted, error otherwise.

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The documentation for this class was generated from the following file:

• px4_ros2_cpp/include/px4_ros2/vehicle_state/home_position_setter.hpp