add odometry reset counter (ekf2, mavlink, etc)

src/modules/mavlink/mavlink_receiver.cpp

@@ -1377,6 +1377,8 @@ MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
 	visual_odom.yawspeed = NAN;
 	visual_odom.velocity_covariance[0] = NAN;
 
+	visual_odom.reset_counter = ev.reset_counter;
+
 	_visual_odometry_pub.publish(visual_odom);
 }
 
@@ -1444,6 +1446,8 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 		PX4_ERR("Body frame %" PRIu8 " not supported. Unable to publish velocity", odom.child_frame_id);
 	}
 
+	odometry.reset_counter = odom.reset_counter;
+
 	/**
 	 * Supported local frame of reference is MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_FRD
 	 * The supported sources of the data/tesimator type are MAV_ESTIMATOR_TYPE_VISION,

src/modules/mavlink/streams/ODOMETRY.hpp

@@ -159,6 +159,8 @@ private:
 				msg.velocity_covariance[i] = odom.velocity_covariance[i];
 			}
 
+			msg.reset_counter = odom.reset_counter;
+
 			mavlink_msg_odometry_send_struct(_mavlink->get_channel(), &msg);
 
 			return true;