From b958928095cbd65a8de2eff9fb454694315af73e Mon Sep 17 00:00:00 2001
From: Roman <bapstr@ethz.ch>
Date: Wed, 23 Dec 2015 11:40:25 +0100
Subject: [PATCH] publish rates and quaternion on attitude topic

---
 src/modules/ekf2/ekf2_main.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 7b02c1dadf..13f615c4e2 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -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 {