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mavlink handle MAV_ODOM_LP parameter in main

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- fixes #11125
This commit is contained in:
Daniel Agar
2019-01-01 22:21:02 +00:00
committed by Nuno Marques
parent 032e64aaf2
commit 55e3f80bab
4 changed files with 8 additions and 12 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -3
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@@ -2318,7 +2318,7 @@ protected:
mavlink_odometry_t msg = {};
if (_send_odom_loopback.get()) {
if (_mavlink->odometry_loopback_enabled()) {
odom_updated = _vodom_sub->update(&_vodom_time, &odom);
// frame matches the external vision system
msg.frame_id = MAV_FRAME_VISION_NED;
@@ -2361,8 +2361,8 @@ protected:
msg.yawspeed = odom.yawspeed;
// get the covariance matrix size
const size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]);
const size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]);
static constexpr size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]);
static constexpr size_t VEL_URT_SIZE = sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0]);
static_assert(POS_URT_SIZE == (sizeof(msg.pose_covariance) / sizeof(msg.pose_covariance[0])),
"Odometry Pose Covariance matrix URT array size mismatch");
static_assert(VEL_URT_SIZE == (sizeof(msg.twist_covariance) / sizeof(msg.twist_covariance[0])),