From 578ba20df029f54bb46c3637ee3ddb45e4edeb4b Mon Sep 17 00:00:00 2001 From: Ryan Friedman Date: Mon, 7 Aug 2023 19:35:14 -0600 Subject: [PATCH] GCS_MAVLink: Use renamed visual odom function * Now called pose instead of position Signed-off-by: Ryan Friedman --- libraries/GCS_MAVLink/GCS_Common.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp index 592ae2274a..ddfee9c5ea 100644 --- a/libraries/GCS_MAVLink/GCS_Common.cpp +++ b/libraries/GCS_MAVLink/GCS_Common.cpp @@ -3570,7 +3570,7 @@ void GCS_MAVLINK::handle_odometry(const mavlink_message_t &msg) } const uint32_t timestamp_ms = correct_offboard_timestamp_usec_to_ms(m.time_usec, PAYLOAD_SIZE(chan, ODOMETRY)); - visual_odom->handle_vision_position_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, q, posErr, angErr, m.reset_counter); + visual_odom->handle_pose_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, q, posErr, angErr, m.reset_counter); // convert velocity vector from FRD to NED frame Vector3f vel{m.vx, m.vy, m.vz}; @@ -3607,7 +3607,7 @@ void GCS_MAVLINK::handle_common_vision_position_estimate_data(const uint64_t use angErr = cbrtf(sq(covariance[15])+sq(covariance[18])+sq(covariance[20])); } - visual_odom->handle_vision_position_estimate(usec, timestamp_ms, x, y, z, roll, pitch, yaw, posErr, angErr, reset_counter); + visual_odom->handle_pose_estimate(usec, timestamp_ms, x, y, z, roll, pitch, yaw, posErr, angErr, reset_counter); } void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg) @@ -3623,7 +3623,7 @@ void GCS_MAVLINK::handle_att_pos_mocap(const mavlink_message_t &msg) return; } // note: att_pos_mocap does not include reset counter - visual_odom->handle_vision_position_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, m.q, 0, 0, 0); + visual_odom->handle_pose_estimate(m.time_usec, timestamp_ms, m.x, m.y, m.z, m.q, 0, 0, 0); } void GCS_MAVLINK::handle_vision_speed_estimate(const mavlink_message_t &msg)