EKF: Report horizontal acceleration

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -852,7 +852,9 @@ void AttitudePositionEstimatorEKF::publishControlState()
 	/* Accelerations in Body Frame */
 	_ctrl_state.x_acc = _ekf->accel.x;
 	_ctrl_state.y_acc = _ekf->accel.y;
-	_ctrl_state.z_acc = _ekf->accel.z;
+	_ctrl_state.z_acc = _ekf->accel.z - _ekf->states[13];
+
+	_ctrl_state.horz_acc_mag = _ekf->getAccNavMagHorizontal();
 
 	/* Velocity in Body Frame */
 	Vector3f v_n(_ekf->states[4], _ekf->states[5], _ekf->states[6]);

src/modules/ekf_att_pos_estimator/estimator_22states.h

@@ -382,6 +382,8 @@ public:
 
     void get_covariance(float c[28]);
 
+    float getAccNavMagHorizontal() { return _accNavMagHorizontal; }
+
 protected:
 
     /**