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ekf2: publish output predictor tracking errors

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Paul Riseborough
2016-08-14 13:42:34 +10:00
committed by Lorenz Meier
parent 23a379a6bf
commit 7a9e3002ff
1 changed files with 2 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
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@@ -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);