Description
Feature request
Is your feature request related to a problem? Please describe.
If the user uses their GCS to change the home location, the published local pose data in DDS will jump. Additionally, applications like terrain planners commanding position in global coordinates with an altitude frame relative to home will have the altitude wrong now. This could cause a crash if the new home location is significantly below the previous one because the plane will fly into the ground.
Describe the solution you'd like
Add a notification in AP_Notify for a home change event, and then use that event to propogate the new home location via the static transform tree. This tree is currently populated in AP_DDS_Client::populate_static_transforms, but does not include the home position.
Describe alternatives you've considered
Prevent the user from changing home when DDS is enabled
Additional context
See #25722, which is vulnerable to a runtime home location change
Activity