From 090d03eea2960decf959ea377fa8063254781f75 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 3 Aug 2022 10:33:39 +0200 Subject: [PATCH] ekf2: publish GNSS, rng and EV height biases --- src/modules/ekf2/EKF2.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 0efae65908..60a45e9deb 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -202,12 +202,15 @@ bool EKF2::multi_init(int imu, int mag) // advertise all topics to ensure consistent uORB instance numbering _ekf2_timestamps_pub.advertise(); _estimator_baro_bias_pub.advertise(); + _estimator_ev_hgt_bias_pub.advertise(); _estimator_event_flags_pub.advertise(); + _estimator_gnss_hgt_bias_pub.advertise(); _estimator_gps_status_pub.advertise(); _estimator_innovation_test_ratios_pub.advertise(); _estimator_innovation_variances_pub.advertise(); _estimator_innovations_pub.advertise(); _estimator_optical_flow_vel_pub.advertise(); + _estimator_rng_hgt_bias_pub.advertise(); _estimator_sensor_bias_pub.advertise(); _estimator_states_pub.advertise(); _estimator_status_flags_pub.advertise();