Adding Home Position Mavlink Message to Telemetry

[YasinBedirhanSimsek]

Currently, the subcribe_home function in Telemetry API returns a HomeHandle that uses the position struct which is in terms of global GPS position.

However, there is a mavlink message that gives more information about the home position

In future releases, it would be much better to implement this mavlink message into mavsdk

[JonasVautherin]

Is it implemented both by PX4 and Ardupilot in a consistent way? Genuinely curious, I don't know about this HOME_POSITION message.

[YasinBedirhanSimsek]

I can see it via QGroundControl (Gazebo Garden SITL) @JonasVautherin

[JonasVautherin]

Sent regularly at 0.2Hz by both PX4 and Ardupilot?

[YasinBedirhanSimsek]

I do not have information on Ardupilot because I do not have a test setup. On PX4 however, the answer seems to be a yes. But 0.2Hz is not constant. Sometimes it becomes 0.8Hz. There is also a UORB message type defined for it in the docs https://docs.px4.io/main/en/msg_docs/HomePosition.html

I will check and give an update if it is also the case for a real drone because this might be a simulation-specific thing