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ekf2: publish yaw estimator status last

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Daniel Agar
2020-11-11 20:17:52 -05:00
parent 05de61ff15
commit 96178a6fb0
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -767,7 +767,6 @@ void EKF2::Run()
PublishGlobalPosition(now); PublishGlobalPosition(now);
PublishSensorBias(now); PublishSensorBias(now);
PublishWindEstimate(now); PublishWindEstimate(now);
PublishYawEstimatorStatus(now);
// publish status/logging messages // publish status/logging messages
PublishEkfDriftMetrics(now); PublishEkfDriftMetrics(now);
@@ -776,6 +775,7 @@ void EKF2::Run()
PublishInnovations(now, imu_sample_new); PublishInnovations(now, imu_sample_new);
PublishInnovationTestRatios(now); PublishInnovationTestRatios(now);
PublishInnovationVariances(now); PublishInnovationVariances(now);
PublishYawEstimatorStatus(now);
if (!_mag_decl_saved && _standby) { if (!_mag_decl_saved && _standby) {
_mag_decl_saved = update_mag_decl(_param_ekf2_mag_decl); _mag_decl_saved = update_mag_decl(_param_ekf2_mag_decl);