From c2c6b222bf2fa7f9db6f39f1a5d9ebad265fa844 Mon Sep 17 00:00:00 2001 From: tumbili Date: Tue, 12 Apr 2016 14:22:59 +0200 Subject: [PATCH] publish acceleration in control state --- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 6a30caaee6..8dc677f7bd 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -615,6 +615,10 @@ void AttitudeEstimatorQ::task_main() ctrl_state.q[2] = _q(2); ctrl_state.q[3] = _q(3); + ctrl_state.x_acc = _accel(0); + ctrl_state.y_acc = _accel(1); + ctrl_state.z_acc = _accel(2); + /* attitude rates for control state */ ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));