From 5a69f4560aa2fd7e0ccd20ce9aa1612c5cf1331f Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 5 Oct 2016 19:50:13 +1100 Subject: [PATCH] ekf2: Publish innovation test status data --- src/modules/ekf2/ekf2_main.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index ea7e41e1a3..186f4c8941 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -867,7 +867,10 @@ void Ekf2::task_main() _ekf.get_gps_check_status(&status.gps_check_fail_flags); _ekf.get_control_mode(&status.control_mode_flags); _ekf.get_filter_fault_status(&status.filter_fault_flags); - + _ekf.get_innovation_test_status(&status.innovation_check_flags, &status.mag_test_ratio, + &status.vel_test_ratio, &status.pos_test_ratio, + &status.hgt_test_ratio, &status.tas_test_ratio, + &status.hagl_test_ratio); if (_estimator_status_pub == nullptr) { _estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &status);