From 8ce4a15778cefe9ebaaff5825a68b687ed76dc4b Mon Sep 17 00:00:00 2001 From: kamilritz Date: Thu, 26 Sep 2019 15:59:00 +0200 Subject: [PATCH] Update frame in mavlink receiver odometry to newest mavlink --- src/modules/mavlink/mavlink_receiver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 2dd1501518..39c5fc83a9 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1273,7 +1273,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg) PX4_ERR("Body frame %u not supported. Unable to publish velocity", odom.child_frame_id); } - if (odom.frame_id == MAV_FRAME_VISION_NED) { + if (odom.frame_id == MAV_FRAME_LOCAL_FRD) { _visual_odometry_pub.publish(odometry); } else if (odom.frame_id == MAV_FRAME_MOCAP_NED) {