* @brief Compute the global position from adding a local frame vector to the current global * position. * * @param global_position current lat [deg

* @brief Check if vehicle's home position altitude is valid. * * @return true if altitude has been set, otherwise false */

* @brief Get the vehicle's angular velocity in FRD frame. * * @return the angular velocity */

* @brief Get the vehicle's angular velocity in FRD frame. * * @return the angular velocity */

* @brief Get the vehicle's arming status. * * @return true if the vehicle is armed, false otherwise */

* @brief Get the vehicle's attitude. * * @return the attitude quaternion */

* @brief Get the vehicle's attitude. * * @return the attitude quaternion */

* @brief Get the vehicle's battery cell count. * * @return the number of cells, 0 if unknown */

* @brief Get the voltages of each cell in the vehicle's battery. * * @return an Eigen vector containing the cell voltages. If the cell count is

* Report any custom mode requirements. This is called regularly, also while the mode is active. */

* @brief Reset the current trajectory config options to the mission defaults */

* @brief Get the vehicle's battery current. * * @return the current [A], or -1 if unknown */

* This is called when the mission gets deactivated, i.e., the user switches to a different mode, * or the mission finished. It can be used to disab

* @brief enable/disable deferral of failsafes * * @param enabled * @param timeout_s 0=system default, -1=no timeout * @return true on succ

* @brief Get the vehicle's battery cumulative discharged capacity. * * @return the discharged capacity [mAh], or -1 if unknown */

* @brief Check if vehicle's global horizontal home position is valid (lat, lon). * * @return true if latitude and longitude have been set, other

* @brief Get the vehicle's home position in global coordinates. * * @return the global coordinates of the home position (latitude [°], longitude

* @brief Compute the global position given another global position, distance and heading * see http://www.movable-type.co.uk/scripts/latlong.html *

* Transform a point in the geographic coordinate system to the local * azimuthal equidistant plane using the projection * * @param global_pos

* @brief Compute the heading to the next global position in radians. * * @param global_position_now current lat [deg], lon [deg], alt AMSL [m] * @p