OdometryLocalPosition distanceGround() method

Auterion · Sep 12, 2024 · c75a5f5 · c75a5f5
1 parent 0456711
commit c75a5f5
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp b/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp
@@ -71,6 +71,12 @@ class OdometryLocalPosition : public Subscription<px4_msgs::msg::VehicleLocalPos
     const px4_msgs::msg::VehicleLocalPosition & pos = last();
     return pos.heading;
   }
+
+  float distanceGround() const
+  {
+    const px4_msgs::msg::VehicleLocalPosition & pos = last();
+    return pos.dist_bottom;
+  }
 };
 
 /** @}*/