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ekf2: Publish height above ground fusion data

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This commit is contained in:
Paul Riseborough
2016-03-07 19:26:46 +11:00
committed by Lorenz Meier
parent c9954c8ddc
commit e540315da8
1 changed files with 2 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
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@@ -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);