From 7a9e3002ffa9ce6502eacd66a611259480bb9b31 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sun, 14 Aug 2016 13:42:34 +1000 Subject: [PATCH] ekf2: publish output predictor tracking errors --- src/modules/ekf2/ekf2_main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 1d8c2b8ad4..1d55434ab0 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -914,6 +914,8 @@ void Ekf2::task_main() _ekf.get_flow_innov_var(&innovations.flow_innov_var[0]); _ekf.get_hagl_innov_var(&innovations.hagl_innov_var); + _ekf.get_output_tracking_error(&innovations.output_tracking_error[0]); + if (_estimator_innovations_pub == nullptr) { _estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);