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ekf2: publish yaw estimator status last

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This commit is contained in:
Daniel Agar 2020-11-10 10:25:51 -05:00
parent 05de61ff15
commit 96178a6fb0
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/EKF2.cpp
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@ -767,7 +767,6 @@ void EKF2::Run()
PublishGlobalPosition(now);
PublishSensorBias(now);
PublishWindEstimate(now);
PublishYawEstimatorStatus(now);
// publish status/logging messages
PublishEkfDriftMetrics(now);
@ -776,6 +775,7 @@ void EKF2::Run()
PublishInnovations(now, imu_sample_new);
PublishInnovationTestRatios(now);
PublishInnovationVariances(now);
PublishYawEstimatorStatus(now);
if (!_mag_decl_saved && _standby) {
_mag_decl_saved = update_mag_decl(_param_ekf2_mag_decl);