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Revert "mavlink: ODOMETRY handler accept all other estimator_types for now"

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This reverts commit b216714d5624368fffa84071c0f6c078e4c9d82d.
This commit is contained in:
Daniel Agar 2021-02-06 17:07:49 -05:00
parent b216714d56
commit f461481548
1 changed files with 5 additions and 4 deletions
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9
src/modules/mavlink/mavlink_receiver.cpp
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@ -1406,13 +1406,14 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
odometry.local_frame = vehicle_odometry_s::LOCAL_FRAME_FRD;
}
if (odom.estimator_type == MAV_ESTIMATOR_TYPE_MOCAP) {
if (odom.estimator_type == MAV_ESTIMATOR_TYPE_VISION || odom.estimator_type == MAV_ESTIMATOR_TYPE_VIO) {
_visual_odometry_pub.publish(odometry);
} else if (odom.estimator_type == MAV_ESTIMATOR_TYPE_MOCAP) {
_mocap_odometry_pub.publish(odometry);
} else {
// MAV_ESTIMATOR_TYPE_VISION, MAV_ESTIMATOR_TYPE_VIO
// publish anything else for now
_visual_odometry_pub.publish(odometry);
PX4_ERR("Estimator source %u not supported. Unable to publish pose and velocity", odom.estimator_type);
}
} else {