mavlink: GLOBAL_POSITION_INT send without lat/lon availability #15308
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- the altitude and velocity portions of this message are still relevant without GPS lat/lon
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I am highly agree with this change (I actually made similar change on my repo too..) |
| msg.lat = gpos.lat * 1e7; | ||
| msg.lon = gpos.lon * 1e7; | ||
| // lat, lon: Latitude, Longitude in degE7 | ||
| vehicle_global_position_s gpos{}; |
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So lat/lon are just going to be 0 if they are not available?
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Correct (once vehicle_local_position is publishing). This is the behavior @DonLakeFlyer requested that already has special handling in QGC for other platforms.
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I would have preferred explicit handling, but as long as it's lat=lon=0 I think it's fine.
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Ok, I'll have to add a check in MAVSDK then. And we should document it in the MAVLink spec.
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What about using int32_max for both instead?
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What about using int32_max for both instead?
Yes that would work (I also suggested it), but I think it's too late with the significant existing deployed usage. We could still try to get the mavlink spec updated with the explicit INT32_MAX, but it would be in addition to the lat=lon=0 special case.
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Ok, if it's already deployed then we might as well document 0/0.
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@LorenzMeier speak up if you are not ok with this!
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FYI: ArduPilot already does 0/0. |
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I haven't seen the notification for this - I strongly disagree with this, as we really shouldn't be adding ANYTHING that induces invalid data without proper flags. This really should have been done as a MAVLink packet extension with either altitude in a separate message or a flag for validity added. |
@DonLakeFlyer as discussed.
I'm not crazy about the idea of sending this continuously without a way to indicate the lat & lon aren't valid, but let me know what you'd prefer.