Mavlink: GLOBAL_POSITION for aux positioning by haumarco · Pull Request #26307 · PX4/PX4-Autopilot

haumarco · 2026-01-20T16:42:04Z

This PR is part of the split up of #26151

Solved Problem

There was no MAVLink interface to inject auxiliary global position data into PX4. External systems using MAVLink (instead of ROS2/DDS) could not provide alternative positioning sources for EKF2 fusion.

Solution

This PR adds MAVLink GLOBAL_POSITION_SENSOR message support (see mavlink/mavlink#2422, mavlink/mavlink#2423):

Incoming message handler (mavlink_receiver.cpp)
- Converts GLOBAL_POSITION_SENSOR MAVLink message to aux_global_position uORB topic
- Maps id and source fields for multi-instance support
- Publishes via PublicationMulti for multi-instance routing
Outgoing stream (streams/GLOBAL_POSITION_SENSOR.hpp)
- Streams aux_global_position uORB topic as GLOBAL_POSITION_SENSOR MAVLink message
- Supports multiple instances via SubscriptionMultiArray
MAVLink submodule update
- Bumped to include GLOBAL_POSITION_SENSOR in common.xml

Changelog Entry

For release notes:

Feature: MAVLink GLOBAL_POSITION_SENSOR message support for auxiliary positioning
- Receive: GLOBAL_POSITION_SENSOR messages published to aux_global_position uORB topic
- Send: GLOBAL_POSITION_SENSOR stream uses aux_global_position topic with multi-instance support

Test coverage

Tested by sending GLOBAL_POSITION_SENSOR messages via MAVLink and verifying they appear on the aux_global_position uORB topic.

- Add handler for incoming GLOBAL_POSITION MAVLink messages - Publish received positions to aux_global_position uORB topic - Update GLOBAL_POSITION stream to use aux_global_position topic

….xml

github-actions · 2026-02-25T17:46:59Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 888 byte (0.04 %)]

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px4_fmu-v6x [Total VM Diff: 880 byte (0.05 %)]

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--------------  -------------- 
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  [NEW]    +136  [NEW]    +136    MavlinkStreamGlobalPositionSensor::new_instance()
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  [NEW]     +40  [ = ]       0    MavlinkStreamGlobalPositionSensor
  [NEW]     +48  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_id()
  [NEW]     +51  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_name()
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  [NEW]     +64  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_name()
  [NEW]     +32  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_size()
  [NEW]     +48  [ = ]       0    MavlinkStreamGlobalPositionSensor::new_instance()
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  [NEW]     +96  [ = ]       0    MavlinkStreamGlobalPositionSensor::~MavlinkStreamGlobalPositionSensor()
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Updated: 2026-02-27T06:59:09

haumarco requested a review from bresch January 20, 2026 16:42

haumarco mentioned this pull request Jan 20, 2026

EKF2: Multi-instance AGP fusion #26151

Closed

haumarco force-pushed the mavlink_global_position branch from 74a42c0 to c98fe20 Compare January 21, 2026 09:14

haumarco mentioned this pull request Jan 21, 2026

GLOBAL_POSITION: move message from dev to standard mavlink/mavlink#2407

Closed

haumarco force-pushed the mavlink_global_position branch from c98fe20 to 0037c59 Compare January 21, 2026 16:31

haumarco force-pushed the mavlink_global_position branch from 0037c59 to 22dd6d5 Compare February 17, 2026 19:48

haumarco mentioned this pull request Feb 24, 2026

move GLOBAL_POSITION_SENSOR to common mavlink/mavlink#2423

Merged

haumarco added 4 commits February 25, 2026 18:03

mavlink: add GLOBAL_POSITION message handling

c38f4b7

- Add handler for incoming GLOBAL_POSITION MAVLink messages - Publish received positions to aux_global_position uORB topic - Update GLOBAL_POSITION stream to use aux_global_position topic

correctly handle multi AGP in mavlink pub

098979a

move from GLOBAL_POSITION to GLOBAL_POSITION_SENSOR

34dd2db

mavlink: update submodule to include GLOBAL_POSITION_SENSOR in common…

1ad8cf5

….xml

haumarco force-pushed the mavlink_global_position branch from 5cbb17d to 1ad8cf5 Compare February 25, 2026 17:38

haumarco requested a review from sfuhrer February 26, 2026 08:45

sfuhrer reviewed Feb 26, 2026

View reviewed changes

Comment thread src/modules/mavlink/mavlink_receiver.cpp Outdated

Comment thread src/modules/mavlink/mavlink_receiver.h

remove unnecessary eph check

053d9d2

sfuhrer approved these changes Feb 27, 2026

View reviewed changes

haumarco enabled auto-merge (squash) February 27, 2026 16:50

haumarco merged commit fab9874 into main Feb 27, 2026
75 checks passed

haumarco deleted the mavlink_global_position branch February 27, 2026 16:50

github-actions bot mentioned this pull request Mar 2, 2026

ci(workflows): add commit message and PR title quality checks #26581

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Mavlink: GLOBAL_POSITION for aux positioning#26307

Mavlink: GLOBAL_POSITION for aux positioning#26307
haumarco merged 5 commits intomainfrom
mavlink_global_position

haumarco commented Jan 20, 2026 •

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haumarco commented Jan 20, 2026 •

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