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add odometry reset counter (ekf2, mavlink, etc)

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This commit is contained in:
Daniel Agar
2022-01-31 09:19:36 -05:00
parent 463ac8e8a1
commit 90358f078f
12 changed files with 69 additions and 11 deletions
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src/modules/simulator/simulator_mavlink.cpp
+4
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@@ -1358,6 +1358,8 @@ int Simulator::publish_odometry_topic(const mavlink_message_t *odom_mavlink)
odom.velocity_covariance[i] = odom_msg.velocity_covariance[i];
}
odom.reset_counter = odom_msg.reset_counter;
/* Publish the odometry based on the source */
if (odom_msg.estimator_type == MAV_ESTIMATOR_TYPE_VISION || odom_msg.estimator_type == MAV_ESTIMATOR_TYPE_VIO) {
_visual_odometry_pub.publish(odom);
@@ -1403,6 +1405,8 @@ int Simulator::publish_odometry_topic(const mavlink_message_t *odom_mavlink)
/* The velocity covariance URT - unknown */
odom.velocity_covariance[0] = NAN;
odom.reset_counter = ev.reset_counter;
/* Publish the odometry */
_visual_odometry_pub.publish(odom);
}