EKF2: Added gravity innovations for logging.

Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
2026-11-09 05:11:36 +08:00 · 2023-02-01 10:30:55 -05:00
parent 3e09d9b678
commit 436f168188
3 changed files with 4 additions and 0 deletions
@@ -1077,6 +1077,7 @@ void EKF2::PublishInnovations(const hrt_abstime &timestamp)
 	_ekf.getHaglInnov(innovations.hagl);
 	_ekf.getHaglRateInnov(innovations.hagl_rate);
 	_ekf.getTerrainFlowInnov(innovations.terr_flow);
+	_ekf.getGravInnov(innovations.gravity);
 	// Not yet supported
 	innovations.aux_vvel = NAN;