From c9954c8ddc6a6772510986bf950f47dbe48020b5 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 7 Mar 2016 19:25:55 +1100 Subject: [PATCH] msg: Add ekf2 height above ground fusion data --- msg/ekf2_innovations.msg | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg index 5d635eb31d..ce68e9ff48 100644 --- a/msg/ekf2_innovations.msg +++ b/msg/ekf2_innovations.msg @@ -3,7 +3,9 @@ float32[6] vel_pos_innov # velocity and position innovations float32[3] mag_innov # earth magnetic field innovations float32 heading_innov # heading innovation float32[2] flow_innov # flow innovation +float32 hagl_innov # innovation from the terrain estimator for the height above ground level measurement (m) float32[6] vel_pos_innov_var # velocity and position innovation variances float32[3] mag_innov_var # earth magnetic field innovation variance float32 heading_innov_var # heading innovation variance -float32[2] flow_innov_var # flow innovation variance \ No newline at end of file +float32[2] flow_innov_var # flow innovation variance +float32 hagl_innov_var # innovation variance from the terrain estimator for the height above ground level measurement (m^2)