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Feature: VIO: add ODOMETRY stream (#11084)

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* mavlink_messages: remove LOCAL_POSITION_NED_COV stream

* mavlink_messages.cpp: add ODOMETRY stream

* add MAV_ODOM_LP parameter to activate odometry loopback

* EKF2: add vehicle_odometry publisher

* Replace VISION_POSITION_ESTIMATE loopback with ODOMETRY

* LPE: add vehicle_odometry publisher

* set vehicle_odometry local_frame field

* mavlink_messages.cpp: ODOMETRY frame_id depends on MAV_ODOM_LP
This commit is contained in:
Nuno Marques
2018-12-21 12:54:04 -05:00
committed by James Goppert
parent b3018646d5
commit cfd1be584e
10 changed files with 250 additions and 115 deletions
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ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow.post
+1 -1
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@@ -1,3 +1,3 @@
# shellcheck disable=SC2154
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local
mavlink stream -r 50 -s DISTANCE_SENSOR -u $udp_gcs_port_local
ROMFS/px4fmu_common/init.d-posix/1013_iris_vision.post
+1 -1
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@@ -1,3 +1,3 @@
# shellcheck disable=SC2154
mavlink stream -r 10 -s VISION_POSITION_ESTIMATE -u $udp_gcs_port_local
mavlink stream -r 30 -s ODOMETRY -u $udp_gcs_port_local