From e540315da87eb0a2cc0c3bbd83d5312369189154 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 7 Mar 2016 19:26:46 +1100 Subject: [PATCH] ekf2: Publish height above ground fusion data --- src/modules/ekf2/ekf2_main.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 56a96fa6b1..b8d36d2095 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -605,11 +605,13 @@ void Ekf2::task_main() _ekf->get_mag_innov(&innovations.mag_innov[0]); _ekf->get_heading_innov(&innovations.heading_innov); _ekf->get_flow_innov(&innovations.flow_innov[0]); + _ekf->get_hagl_innov(&innovations.hagl_innov); _ekf->get_vel_pos_innov_var(&innovations.vel_pos_innov_var[0]); _ekf->get_mag_innov_var(&innovations.mag_innov_var[0]); _ekf->get_heading_innov_var(&innovations.heading_innov_var); _ekf->get_flow_innov_var(&innovations.flow_innov_var[0]); + _ekf->get_hagl_innov_var(&innovations.hagl_innov_var); if (_estimator_innovations_pub == nullptr) { _estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);