Get relative orientation on /local_position/odom topic

ROS / MAVROS / MicroDDS
1

Hello everyone,

Aim:

I am trying to get the relative orientation on the local_position/odom (nav_msgs/Odometry) topic. At the moment orientation seems to be coming from the compass. I would like to set the starting orientation of my copter as zero yaw.

I am using the only GPS data (EKF_AID_MASK is set to 1).

Setup

  1. PX4 simulation/gazebo iris
  2. PX4 Fimware: v1.10.1
  3. MAVROS: version 1.0.0
  4. EKF_AID_MASK: 1 (using GPS)

Any suggestions will be much appreciated. Thank you.

Ash