bluerobotics
Allow setting GPS(/EKF) origin
For vehicles with relative positioning systems, the autopilot still requires a global reference position that the position estimates are relative to.
This functionality has been implemented in the Water Linked DVL BlueOS Extension, but it would be nice if other position sensor drivers did not need to implement an interface to provide such functionalities, and also to avoid requiring the user to open the sensor's Extension interface on every vehicle boot for some basic setup.
Ideally this would be settable on the map widget (relevant to #84), and displayed on the map with some kind of origin icon (e.g. mdi-axis-arrow), with some explanatory text to help users understand that the origin allows position values to have higher precision when they are nearby, and that it should ideally be placed near the centre of the region being operated in.
It would also be nice to support sending manual position estimates to the vehicle (e.g. via VISION_POSITION_ESTIMATE messages), so the user can choose to correct its position if they realise its internal estimate was incorrectly set or has drifted. Note that incrementing the reset_counter causes the autopilot's estimate to jump to the next specified position, while otherwise new estimates are factored into the EKF
