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mavlink: ODOMETRY handler accept all other estimator_types for now

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This commit is contained in:
Daniel Agar
2021-02-06 15:45:58 -05:00
committed by Nuno Marques
parent d67a84d941
commit b216714d56
1 changed files with 4 additions and 5 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+4 -5
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@@ -1406,14 +1406,13 @@ 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_MOCAP) {
_visual_odometry_pub.publish(odometry);
} else if (odom.estimator_type == MAV_ESTIMATOR_TYPE_MOCAP) {
_mocap_odometry_pub.publish(odometry); _mocap_odometry_pub.publish(odometry);
} else { } else {
PX4_ERR("Estimator source %u not supported. Unable to publish pose and velocity", odom.estimator_type); // MAV_ESTIMATOR_TYPE_VISION, MAV_ESTIMATOR_TYPE_VIO
// publish anything else for now
_visual_odometry_pub.publish(odometry);
} }
} else { } else {