home_position_setter.hpp

/****************************************************************************
 * Copyright (c) 2025 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_ros2/common/context.hpp>
#include <px4_ros2/components/mode.hpp>
#include <px4_ros2/utils/vehicle_command_sender.hpp>
 
namespace px4_ros2 {
class HomePositionSetter {
 public:
  explicit HomePositionSetter(Context& context);
 
  Result setHomeToCurrentPosition();
 
  Result setHome(double latitude, double longitude, float altitude);
 
  Result setGpsGlobalOrigin(double latitude, double longitude, float altitude);
 
 private:
  Result sendCommand(uint32_t command, float param1 = 0.f, float param2 = 0.f, float param3 = 0.f,
                     float param4 = 0.f, double param5 = 0.0, double param6 = 0.0,
                     float param7 = 0.f);
 
  VehicleCommandSender _command_sender;
};
 
}  // namespace px4_ros2