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mavlink odometry: properly set the frame id fields

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TSC21
2020-05-28 15:45:13 +01:00
committed by Nuno Marques
parent 562d57fee8
commit ad4d4287fa
3 changed files with 25 additions and 4 deletions
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src/modules/mavlink/mavlink_messages.cpp
+11 -1
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@@ -2548,13 +2548,23 @@ protected:
if (_mavlink->odometry_loopback_enabled()) {
odom_updated = _vodom_sub.update(&odom);
msg.frame_id = MAV_FRAME_LOCAL_NED;
// set the frame_id according to the local frame of the data
if (odom.local_frame == vehicle_odometry_s::LOCAL_FRAME_NED) {
msg.frame_id = MAV_FRAME_LOCAL_NED;
} else {
msg.frame_id = MAV_FRAME_LOCAL_FRD;
}
// source: external vision system
msg.estimator_type = MAV_ESTIMATOR_TYPE_VISION;
} else {
odom_updated = _odom_sub.update(&odom);
msg.frame_id = MAV_FRAME_LOCAL_NED;
// source: PX4 estimator
msg.estimator_type = MAV_ESTIMATOR_TYPE_AUTOPILOT;
}