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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/mavlink/mavlink_params.c
+11
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@@ -164,3 +164,14 @@ PARAM_DEFINE_INT32(MAV_HASH_CHK_EN, 1);
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_HB_FORW_EN, 1);
/**
* Activate ODOMETRY loopback.
*
* If set, it gets the data from 'vehicle_visual_odometry' instead of 'vehicle_odometry'
* serving as a loopback of the received ODOMETRY messages on the Mavlink receiver.
*
* @boolean
* @group MAVLink
*/
PARAM_DEFINE_INT32(MAV_ODOM_LP, 0);