From 96178a6fb000e12bec412630128a42ea9be2e4b3 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 10 Nov 2020 10:25:51 -0500
Subject: [PATCH] ekf2: publish yaw estimator status last

---
 src/modules/ekf2/EKF2.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 9521fa113f..3f87e261f2 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -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);