From 631040b30b1a41536c7eadd730bec32cfc20f038 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 16 Apr 2016 13:42:11 +1000 Subject: [PATCH] ekf2: publish filter control mode status --- src/modules/ekf2/ekf2_main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 6f02fb4c8a..42f12d238c 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -730,6 +730,7 @@ void Ekf2::task_main() _ekf->get_state_delayed(status.states); _ekf->get_covariances(status.covariances); _ekf->get_gps_check_status(&status.gps_check_fail_flags); + _ekf->get_control_mode(&status.control_mode_flags); if (_estimator_status_pub == nullptr) { _estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &status);