mocap: wire up reset_counter, estimator_type, quality from proto fields

Replace hardcoded values with the corresponding proto fields added
in mavlink/MAVSDK-Proto#395:

- send_vision_position_estimate: use reset_counter field instead of
  hardcoded 0 (resolves the FIXME comment)

- send_odometry: use reset_counter, estimator_type, quality fields
  instead of hardcoded 0/MAV_ESTIMATOR_TYPE_MOCAP/0

Also fixes frame_id mapping: the proto MavFrame enum uses values that
don't match MAVLink (0 instead of 14 for MOCAP_NED), so add a switch
to map to correct MAVLink MAV_FRAME values. For backward compatibility,
estimator_type defaults to MAV_ESTIMATOR_TYPE_MOCAP when set to UNKNOWN.

Author: alireza787b

src/mavsdk/plugins/mocap/mocap_impl.cpp

@@ -103,7 +103,7 @@ Mocap::Result MocapImpl::send_vision_position_estimate(
         vision_position_estimate.angle_body.pitch_rad,
         vision_position_estimate.angle_body.yaw_rad,
         covariance.data(),
-        0); // FIXME: reset_counter not set
+        vision_position_estimate.reset_counter);
 
     return _system_impl->send_message(message) ? Mocap::Result::Success :
                                                  Mocap::Result::ConnectionError;
@@ -216,12 +216,32 @@ Mocap::Result MocapImpl::send_odometry(const Mocap::Odometry& odometry)
         return Mocap::Result::InvalidRequestData;
     }
 
+    // Map proto MavFrame enum to MAVLink frame value.
+    uint8_t mav_frame;
+    switch (odometry.frame_id) {
+        case Mocap::Odometry::MavFrame::MocapNed:
+            mav_frame = MAV_FRAME_MOCAP_NED;
+            break;
+        case Mocap::Odometry::MavFrame::LocalFrd:
+            mav_frame = MAV_FRAME_LOCAL_FRD;
+            break;
+        default:
+            mav_frame = MAV_FRAME_MOCAP_NED;
+            break;
+    }
+
+    // Default to MOCAP estimator type for backward compatibility when not set.
+    const auto mav_estimator_type =
+        odometry.estimator_type == Mocap::Odometry::MavEstimatorType::Unknown ?
+            MAV_ESTIMATOR_TYPE_MOCAP :
+            static_cast<uint8_t>(odometry.estimator_type);
+
     mavlink_msg_odometry_pack(
         _system_impl->get_own_system_id(),
         _system_impl->get_own_component_id(),
         &message,
         autopilot_time_usec,
-        static_cast<uint8_t>(odometry.frame_id),
+        mav_frame,
         static_cast<uint8_t>(MAV_FRAME_BODY_FRD),
         odometry.position_body.x_m,
         odometry.position_body.y_m,
@@ -235,9 +255,9 @@ Mocap::Result MocapImpl::send_odometry(const Mocap::Odometry& odometry)
         odometry.angular_velocity_body.yaw_rad_s,
         pose_covariance.data(),
         velocity_covariance.data(),
-        0,
-        MAV_ESTIMATOR_TYPE_MOCAP,
-        0);
+        odometry.reset_counter,
+        mav_estimator_type,
+        static_cast<int8_t>(odometry.quality));
 
     return _system_impl->send_message(message) ? Mocap::Result::Success :
                                                  Mocap::Result::ConnectionError;