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Support odometry velocity in body and local frame (#14703)

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* Update submodule ECL

* increase lower bound on EVV param
This commit is contained in:
kritz
2020-05-13 12:43:02 +02:00
committed by GitHub
parent 8804dae480
commit 3897030c6f
8 changed files with 86 additions and 69 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+2 -1
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@@ -638,7 +638,7 @@ void BlockLocalPositionEstimator::publishOdom()
&& PX4_ISFINITE(_x(X_vz))) {
_pub_odom.get().timestamp = hrt_absolute_time();
_pub_odom.get().timestamp_sample = _timeStamp;
_pub_odom.get().local_frame = _pub_odom.get().LOCAL_FRAME_NED;
_pub_odom.get().local_frame = vehicle_odometry_s::LOCAL_FRAME_NED;
// position
_pub_odom.get().x = xLP(X_x); // north
@@ -656,6 +656,7 @@ void BlockLocalPositionEstimator::publishOdom()
q.copyTo(_pub_odom.get().q);
// linear velocity
_pub_odom.get().velocity_frame = vehicle_odometry_s::LOCAL_FRAME_FRD;
_pub_odom.get().vx = xLP(X_vx); // vel north
_pub_odom.get().vy = xLP(X_vy); // vel east
_pub_odom.get().vz = xLP(X_vz); // vel down