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Mavlink: GLOBAL_POSITION for aux positioning#26307

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haumarco merged 5 commits intomainfrom
mavlink_global_position
Feb 27, 2026
Merged

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

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@haumarco haumarco commented Jan 20, 2026 •
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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):

  1. 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

  2. Outgoing stream (streams/GLOBAL_POSITION_SENSOR.hpp)

    • Streams aux_global_position uORB topic as GLOBAL_POSITION_SENSOR MAVLink message
    • Supports multiple instances via SubscriptionMultiArray

  3. 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.

@haumarco haumarco requested a review from bresch January 20, 2026 16:42
@haumarco haumarco mentioned this pull request Jan 20, 2026
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@haumarco haumarco force-pushed the mavlink_global_position branch from 74a42c0 to c98fe20 Compare January 21, 2026 09:14
@haumarco haumarco mentioned this pull request Jan 21, 2026
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@haumarco haumarco force-pushed the mavlink_global_position branch from c98fe20 to 0037c59 Compare January 21, 2026 16:31
@haumarco haumarco force-pushed the mavlink_global_position branch from 0037c59 to 22dd6d5 Compare February 17, 2026 19:48
@haumarco haumarco mentioned this pull request Feb 24, 2026
Merged
@haumarco
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
@haumarco
correctly handle multi AGP in mavlink pub
098979a
@haumarco
move from GLOBAL_POSITION to GLOBAL_POSITION_SENSOR
34dd2db
@haumarco
mavlink: update submodule to include GLOBAL_POSITION_SENSOR in common…
1ad8cf5 
….xml
@haumarco haumarco force-pushed the mavlink_global_position branch from 5cbb17d to 1ad8cf5 Compare February 25, 2026 17:38
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github-actions bot commented Feb 25, 2026 •
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🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 888 byte (0.04 %)] 
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--------------  -------------- 
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  [NEW]    +136  [NEW]    +136    MavlinkStreamGlobalPositionSensor::new_instance()
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px4_fmu-v6x [Total VM Diff: 880 byte (0.05 %)] 
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--------------  -------------- 
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  [NEW]    +240  [NEW]    +240    MavlinkStreamGlobalPositionSensor::send()
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  [NEW]    +136  [NEW]    +136    MavlinkStreamGlobalPositionSensor::new_instance()
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  [NEW]     +81  [ = ]       0    MavlinkReceiver::handle_message_global_position_sensor()
  [NEW]     +40  [ = ]       0    MavlinkStreamGlobalPositionSensor
  [NEW]     +48  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_id()
  [NEW]     +51  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_name()
  [NEW]     +50  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_size()
  [NEW]     +63  [ = ]       0    MavlinkStreamGlobalPositionSensor::new_instance()
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  [NEW]     +16  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_id()
  [NEW]     +64  [ = ]       0    MavlinkStreamGlobalPositionSensor::get_name()
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  [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 haumarco requested a review from sfuhrer February 26, 2026 08:45
sfuhrer
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
@haumarco haumarco enabled auto-merge (squash) February 27, 2026 16:50
@haumarco haumarco merged commit fab9874 into main Feb 27, 2026
75 checks passed
@haumarco haumarco deleted the mavlink_global_position branch February 27, 2026 16:50
@github-actions github-actions bot mentioned this pull request Mar 2, 2026
Merged
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