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mavlink: receiver accept ODOMETRY MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support

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Daniel Agar
2021-02-06 17:10:01 -05:00
parent f461481548
commit 1848ac3bc7
1 changed files with 4 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4 -1
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@@ -1406,7 +1406,10 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
odometry.local_frame = vehicle_odometry_s::LOCAL_FRAME_FRD; odometry.local_frame = vehicle_odometry_s::LOCAL_FRAME_FRD;
} }
if (odom.estimator_type == MAV_ESTIMATOR_TYPE_VISION || odom.estimator_type == MAV_ESTIMATOR_TYPE_VIO) { if ((odom.estimator_type == MAV_ESTIMATOR_TYPE_VISION)
|| (odom.estimator_type == MAV_ESTIMATOR_TYPE_VIO)
|| (odom.estimator_type == MAV_ESTIMATOR_TYPE_UNKNOWN)) {
// accept MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support
_visual_odometry_pub.publish(odometry); _visual_odometry_pub.publish(odometry);
} else if (odom.estimator_type == MAV_ESTIMATOR_TYPE_MOCAP) { } else if (odom.estimator_type == MAV_ESTIMATOR_TYPE_MOCAP) {