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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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src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+2
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@@ -239,6 +239,7 @@ private:
// publications
void publishLocalPos();
void publishGlobalPos();
void publishOdom();
void publishEstimatorStatus();
// attributes
@@ -267,6 +268,7 @@ private:
// publications
uORB::Publication<vehicle_local_position_s> _pub_lpos;
uORB::Publication<vehicle_global_position_s> _pub_gpos;
uORB::Publication<vehicle_odometry_s> _pub_odom;
uORB::Publication<estimator_status_s> _pub_est_status;
uORB::Publication<ekf2_innovations_s> _pub_innov;