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Add MAV_CMD_EXTERNAL_POSITION_ESTIMATE to map right-click context menu #3667

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Add MAV_CMD_EXTERNAL_POSITION_ESTIMATE to map right-click context menu #3667

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Copilot Feb 12, 2026
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Add MAV_CMD_EXTERNAL_POSITION_ESTIMATE to map right-click context menu
Copilot Feb 12, 2026
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11 changes: 10 additions & 1 deletion GCSViews/FlightData.Designer.cs
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42 changes: 42 additions & 0 deletions GCSViews/FlightData.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -4471,6 +4471,48 @@ private void PointCameraCoordsToolStripMenuItem1_Click(object sender, EventArgs
}
}

private void sendExternalPositionEstimateToolStripMenuItem_Click(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
{
CustomMessageBox.Show(Strings.PleaseConnect, Strings.ERROR);
return;
}

var location = MouseDownStart.Lat.ToString(CultureInfo.InvariantCulture) + ";" +
MouseDownStart.Lng.ToString(CultureInfo.InvariantCulture);
if (DialogResult.Cancel == InputBox.Show("External Position Estimate",
"Please enter the coords 'lat;lng'", ref location))
return;

var split = location.Split(';');

if (split.Length == 2 &&
double.TryParse(split[0], NumberStyles.Float, CultureInfo.InvariantCulture, out var lat) &&
double.TryParse(split[1], NumberStyles.Float, CultureInfo.InvariantCulture, out var lng))
{
try
{
MainV2.comPort.doCommandInt(
(byte)MainV2.comPort.sysidcurrent,
(byte)MainV2.comPort.compidcurrent,
MAVLink.MAV_CMD.EXTERNAL_POSITION_ESTIMATE,
0, 0, float.NaN, 0,
(int)(lat * 1e7),
(int)(lng * 1e7),
float.NaN);
}
catch (Exception ex)
{
CustomMessageBox.Show(Strings.CommandFailed + ex.Message, Strings.ERROR);
}
}
else
{
CustomMessageBox.Show(Strings.InvalidField, Strings.ERROR);
}
}

private void pointCameraHereToolStripMenuItem_Click(object sender, EventArgs e)
{
if (!MainV2.comPort.BaseStream.IsOpen)
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8 changes: 7 additions & 1 deletion GCSViews/FlightData.resx
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Original file line number Diff line number Diff line change
Expand Up @@ -5479,8 +5479,14 @@
<data name="gimbalVideoToolStripMenuItem.Text" xml:space="preserve">
<value>Gimbal Video</value>
</data>
<data name="sendExternalPositionEstimateToolStripMenuItem.Size" type="System.Drawing.Size, System.Drawing">
<value>187, 22</value>
</data>
<data name="sendExternalPositionEstimateToolStripMenuItem.Text" xml:space="preserve">
<value>Send External Position Estimate</value>
</data>
<data name="contextMenuStripMap.Size" type="System.Drawing.Size, System.Drawing">
<value>188, 290</value>
<value>188, 312</value>
</data>
<data name="&gt;&gt;contextMenuStripMap.Name" xml:space="preserve">
<value>contextMenuStripMap</value>
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