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local_position_estimator: publish vertical position derivative

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Paul Riseborough
2017-04-27 11:24:25 +10:00
committed by Dennis Mannhart
parent 7aec94d4d6
commit a147179ad8
1 changed files with 7 additions and 0 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+7
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@@ -611,6 +611,9 @@ void BlockLocalPositionEstimator::publishLocalPos()
_pub_lpos.get().vy = xLP(X_vy); // east
_pub_lpos.get().vz = xLP(X_vz); // down
// this estimator does not provide a separate vertical position time derivative estimate, so use the vertical velocity
_pub_lpos.get().z_deriv = xLP(X_vz);
_pub_lpos.get().yaw = _eul(2);
_pub_lpos.get().xy_global = _estimatorInitialized & EST_XY;
_pub_lpos.get().z_global = !(_sensorTimeout & SENSOR_BARO);
@@ -691,6 +694,10 @@ void BlockLocalPositionEstimator::publishGlobalPos()
_pub_gpos.get().vel_n = xLP(X_vx);
_pub_gpos.get().vel_e = xLP(X_vy);
_pub_gpos.get().vel_d = xLP(X_vz);
// this estimator does not provide a separate vertical position time derivative estimate, so use the vertical velocity
_pub_gpos.get().pos_d_deriv = xLP(X_vz);
_pub_gpos.get().yaw = _eul(2);
_pub_gpos.get().eph = eph;
_pub_gpos.get().epv = epv;