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publish rates and quaternion on attitude topic

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Roman
2015-12-23 11:40:25 +01:00
parent 366eaf4146
commit b958928095
1 changed files with 10 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
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@@ -283,6 +283,16 @@ void Ekf2::task_main()
ctrl_state.q[2] = q(2);
ctrl_state.q[3] = q(3);
att.q[0] = q(0);
att.q[1] = q(1);
att.q[2] = q(2);
att.q[3] = q(3);
att.q_valid = true;
att.rollspeed = sensors.gyro_rad_s[0];
att.pitchspeed = sensors.gyro_rad_s[1];
att.yawspeed = sensors.gyro_rad_s[2];
if (_control_state_pub == nullptr) {
_control_state_pub = orb_advertise(ORB_ID(control_state), &ctrl_state);
} else {