From 1848ac3bc7bce55d5907be37b9f28a35364e22f0 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 6 Feb 2021 17:10:01 -0500 Subject: [PATCH] mavlink: receiver accept ODOMETRY MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support --- src/modules/mavlink/mavlink_receiver.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index f73f8a7b88..56a63bac3b 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1406,7 +1406,10 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg) odometry.local_frame = vehicle_odometry_s::LOCAL_FRAME_FRD; } - if (odom.estimator_type == MAV_ESTIMATOR_TYPE_VISION || odom.estimator_type == MAV_ESTIMATOR_TYPE_VIO) { + if ((odom.estimator_type == MAV_ESTIMATOR_TYPE_VISION) + || (odom.estimator_type == MAV_ESTIMATOR_TYPE_VIO) + || (odom.estimator_type == MAV_ESTIMATOR_TYPE_UNKNOWN)) { + // accept MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support _visual_odometry_pub.publish(odometry); } else if (odom.estimator_type == MAV_ESTIMATOR_TYPE_MOCAP) {