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ekf2: Publish innovation test status data

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This commit is contained in:
Paul Riseborough
2016-10-05 19:50:13 +11:00
committed by Lorenz Meier
parent 2bda15d72b
commit 5a69f4560a
1 changed files with 4 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+4 -1
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@@ -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);