Support odometry velocity in body and local frame [REOPENED] #14703
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kamilritz
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TSC21
previously approved these changes
Apr 20, 2020
jkflying
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Apr 20, 2020
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@jkflying Great, now it is not fitting on fmuv2 anymore. |
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@kamilritz it would probably look ugly, but you could limit the frame support per target using a preprocessor directive. Which we already have for v2 btw |
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SITL tests are failing recently often. I have a suspicion that this is related to the offboard 'takeoof and land' test case starting sometimes without having proper position information, since ekf is always reporting local_position valid for the first few seconds. Will fix this soon. |
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Lets get this merged, change requests are addressed |
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bresch
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May 13, 2020
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Unrelated SITL failure, let's merge that. |
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At the moment we expect the external vision's velocity to be expressed in world/local frame. This PR allows for the vision velocity also being expressed in body frame. For this a field is added to the vehicle_odometry message that stores the frame in which the velocity is expressed;
Related ECL PR: PX4/PX4-ECL#708
Solving issue: #13935
FYI @TSC21 @jkflying