def set_global_origin(mav, pub):
"""
Send a mavlink SET_GPS_GLOBAL_ORIGIN message, which allows us
to use local position information without a GPS.
"""
target_system = mav.srcSystem
#target_system = 0 # 0 --> broadcast to everyone
lattitude = lat
longitude = lon
altitude = alt
msg = MAV_APM.MAVLink_set_gps_global_origin_message(
target_system, lattitude, longitude, altitude)
send_message(msg, mav, pub)
def set_global_origin(self):
"""
Send a mavlink SET_GPS_GLOBAL_ORIGIN message, which allows us
to use local position information without a GPS.
"""
target_system = 0
# target_system = 0 # 0 --> broadcast to everyone
lattitude = 30
longitude = 130
altitude = 1
f = fifo()
mav = MAV_APM.MAVLink(f, srcSystem=1, srcComponent=1)
msg = MAV_APM.MAVLink_set_gps_global_origin_message(
target_system, lattitude, longitude, altitude)
msg.pack(mav)
self.vehicle.send_mavlink(msg)
self.vehicle.flush()
