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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_stream.h
+6 -1
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@@ -42,10 +42,11 @@
#define MAVLINK_STREAM_H_
#include <drivers/drv_hrt.h>
#include <px4_module_params.h>
class Mavlink;
class MavlinkStream
class MavlinkStream : public ModuleParams
{
public:
@@ -126,6 +127,10 @@ protected:
*/
virtual void update_data() { }
DEFINE_PARAMETERS(
(ParamBool<px4::params::MAV_ODOM_LP>) _send_odom_loopback
)
private:
hrt_abstime _last_sent{0};
bool _first_message_sent{false};