Vector3p output of position from _inav.get_position_ned_m();

[lthall]

Feature request

The one area of our code that doesn't support long range resolution is our measurement of position. We use Vector3f for all other positions other than our reference.

ardupilot/libraries/AC_AttitudeControl/AC_PosControl.cpp

Line 669 in 8ad6e96

const Vector3f &curr_pos = _inav.get_position_neu_cm();

We would also need to support the Vector 3p through the PID object:

ardupilot/libraries/AC_PID/AC_P_2D.h

Line 24 in 8ad6e96

Vector2f update_all(postype_t &target_x, postype_t &target_y, const Vector3f &measurement) WARN_IF_UNUSED {

To do this it looks like we would need to work down to AP_NavEKF3_Outputs where we start to use Vector3F.