{"action":"created","issue":{"url":"https://api.github.com/repos/PX4/Firmware/issues/7368","repository_url":"https://api.github.com/repos/PX4/Firmware","labels_url":"https://api.github.com/repos/PX4/Firmware/issues/7368/labels{/name}","comments_url":"https://api.github.com/repos/PX4/Firmware/issues/7368/comments","events_url":"https://api.github.com/repos/PX4/Firmware/issues/7368/events","html_url":"https://github.com/PX4/Firmware/issues/7368","id":234036144,"node_id":"MDU6SXNzdWUyMzQwMzYxNDQ=","number":7368,"title":"Feature: support for GPS_GLOBAL_ORIGIN","user":{"login":"TSC21","id":5048656,"node_id":"MDQ6VXNlcjUwNDg2NTY=","avatar_url":"https://avatars1.githubusercontent.com/u/5048656?v=4","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"labels":[{"id":10884840,"node_id":"MDU6TGFiZWwxMDg4NDg0MA==","url":"https://api.github.com/repos/PX4/Firmware/labels/enhancement","name":"enhancement","color":"84b6eb","default":true},{"id":78699954,"node_id":"MDU6TGFiZWw3ODY5OTk1NA==","url":"https://api.github.com/repos/PX4/Firmware/labels/multicopter","name":"multicopter","color":"0052cc","default":false}],"state":"open","locked":false,"assignee":{"login":"TSC21","id":5048656,"node_id":"MDQ6VXNlcjUwNDg2NTY=","avatar_url":"https://avatars1.githubusercontent.com/u/5048656?v=4","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false},"assignees":[{"login":"TSC21","id":5048656,"node_id":"MDQ6VXNlcjUwNDg2NTY=","avatar_url":"https://avatars1.githubusercontent.com/u/5048656?v=4","gravatar_id":"","url":"https://api.github.com/users/TSC21","html_url":"https://github.com/TSC21","followers_url":"https://api.github.com/users/TSC21/followers","following_url":"https://api.github.com/users/TSC21/following{/other_user}","gists_url":"https://api.github.com/users/TSC21/gists{/gist_id}","starred_url":"https://api.github.com/users/TSC21/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/TSC21/subscriptions","organizations_url":"https://api.github.com/users/TSC21/orgs","repos_url":"https://api.github.com/users/TSC21/repos","events_url":"https://api.github.com/users/TSC21/events{/privacy}","received_events_url":"https://api.github.com/users/TSC21/received_events","type":"User","site_admin":false}],"milestone":null,"comments":10,"created_at":"2017-06-06T21:52:56Z","updated_at":"2018-05-31T18:06:38Z","closed_at":null,"author_association":"MEMBER","body":"I'm planning to add support for `GPS_GLOBAL_ORIGIN` (and `SET_GPS_GLOBAL_ORIGIN` which can be triggered by a cmd for example), and consequently add support for `LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET` as the offset between the `global_origin` and the `local_origin`.\n\nMy idea is to implement similar to `HOME_POSITION` but, in terms of usage we can think of something more clear. The idea will be allow the FCU to be aware of the offset between the local frame and the global/earth frame as it moves and, in situations the GPS signal is denied or gets lost, the vehicle is still able to navigate, acquire landmarks or even get in and out of buildings, having always a relation between the frames. This can also be useful for multi-system interaction on this kind of environments.\n\nAny suggestions are welcomed. A feature list with them would be helpful before I start digging and coding only with my concept.\n\n**Note:** the `global_origin` can be both set on the FCU or set by an incoming msg from an external system (QGC, companion board, ...). That means the offset can also be computed on both sides. But for a matter of simplicity, let's consider that this offset is computed onboard."},"comment":{"url":"https://api.github.com/repos/PX4/Firmware/issues/comments/393622660","html_url":"https://github.com/PX4/Firmware/issues/7368#issuecomment-393622660","issue_url":"https://api.github.com/repos/PX4/Firmware/issues/7368","id":393622660,"node_id":"MDEyOklzc3VlQ29tbWVudDM5MzYyMjY2MA==","user":{"login":"GigaFlopsis","id":20755845,"node_id":"MDQ6VXNlcjIwNzU1ODQ1","avatar_url":"https://avatars0.githubusercontent.com/u/20755845?v=4","gravatar_id":"","url":"https://api.github.com/users/GigaFlopsis","html_url":"https://github.com/GigaFlopsis","followers_url":"https://api.github.com/users/GigaFlopsis/followers","following_url":"https://api.github.com/users/GigaFlopsis/following{/other_user}","gists_url":"https://api.github.com/users/GigaFlopsis/gists{/gist_id}","starred_url":"https://api.github.com/users/GigaFlopsis/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/GigaFlopsis/subscriptions","organizations_url":"https://api.github.com/users/GigaFlopsis/orgs","repos_url":"https://api.github.com/users/GigaFlopsis/repos","events_url":"https://api.github.com/users/GigaFlopsis/events{/privacy}","received_events_url":"https://api.github.com/users/GigaFlopsis/received_events","type":"User","site_admin":false},"created_at":"2018-05-31T18:06:38Z","updated_at":"2018-05-31T18:06:38Z","author_association":"NONE","body":"This method will be very useful for control of the swarm. I do not quite understand, is it in the firmware? if so, how do I set the parameter via mavros?"}}
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