How to get local ned location

Hello everyone,

I am new with MAVSDK Python and trying to get location of the vehicle in local ned frame. I am able to get the location in global frame with drone.telemetry.position() but I need to convert it into local frame in every target point reach check. I thought, since we are able to set target location with local ned frame, there must be the get part but I can not find it in the examples nor in the documentation.

I am looking for the MAVSDK Python equivalent of the vehicle.location.local_frame from Dronekit. What is the best way to do it?

[canberkdurmus]

I just finished implementation and testing according to the cpp version. Will compare it with this one also, thank you so much @JonasVautherin 👍

[JonasVautherin]

Here it is in Python:

def global_from_local(north_m, east_m, ref_lat, ref_lon):
    world_radius_m = 6371000
    ref_lat_rad = math.pi / 180 * ref_lat
    ref_lon_rad = math.pi / 180 * ref_lon
    x_rad = north_m / world_radius_m
    y_rad = east_m / world_radius_m

    c = math.sqrt(x_rad * x_rad + y_rad * y_rad);

    if (c == 0):
        return ref_lat, ref_lon

    sin_c = math.sin(c)
    cos_c = math.cos(c)

    ref_sin_lat = math.sin(ref_lat_rad)
    ref_cos_lat = math.cos(ref_lat_rad)

    lat_rad = math.asin(cos_c * ref_sin_lat + (x_rad * sin_c * ref_cos_lat) / c)
    lon_rad = (ref_lon_rad + math.atan2(y_rad * sin_c, c * ref_cos_lat * cos_c - x_rad * ref_sin_lat * sin_c))

    global_lat = 180 / math.pi * lat_rad
    global_lon = 180 / math.pi * lon_rad

    return global_lat, global_lon