From 5435b99f86fa7603cc0fce3ff8ac3ed92e6ee6d8 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Mon, 18 Jul 2016 21:18:00 +0200 Subject: [PATCH] added beta innovations to ekf_innovations --- msg/ekf2_innovations.msg | 2 ++ 1 file changed, 2 insertions(+) diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg index a82e4024b7..cf7ae0c072 100644 --- a/msg/ekf2_innovations.msg +++ b/msg/ekf2_innovations.msg @@ -2,12 +2,14 @@ float32[6] vel_pos_innov # velocity and position innovations float32[3] mag_innov # earth magnetic field innovations float32 heading_innov # heading innovation float32 airspeed_innov # airspeed innovation +float32 beta_innov # synthetic sideslip innovation float32[2] flow_innov # flow innovation float32 hagl_innov # innovation from the terrain estimator for the height above ground level measurement (m) float32[6] vel_pos_innov_var # velocity and position innovation variances float32[3] mag_innov_var # earth magnetic field innovation variance float32 heading_innov_var # heading innovation variance float32 airspeed_innov_var # Airspeed innovation variance +float32 beta_innov_var # synthetic sideslip innovation variance float32[2] flow_innov_var # flow innovation variance float32 hagl_innov_var # innovation variance from the terrain estimator for the height above ground level measurement (m^2) float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)