From b488dd39ef735bc7a090e7096040f7e2cf11e2d3 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Wed, 11 Sep 2024 12:41:19 -0800
Subject: [PATCH] OdometryLocalPosition distanceGround() method

---
 px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp b/px4_ros2_cpp/include/px4_ros2/odometry/local_position.hpp
index 141c1ede..94b53afe 100644
--- 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;
+  }
 };
 
 /** @}*/