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Publishes LPE GPS epv and eph as estimator status. (#5413)

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* Publishes LPE GPS epv and eph as estimator status.

* Adds timestamp
This commit is contained in:
Miguel Arroyo
2016-09-03 16:00:51 -04:00
committed by Lorenz Meier
parent a071ef94db
commit f999fbe440
3 changed files with 12 additions and 3 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+3
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@@ -726,6 +726,9 @@ void BlockLocalPositionEstimator::publishEstimatorStatus()
+ (_sonarInitialized << SENSOR_SONAR)
+ (_visionInitialized << SENSOR_VISION)
+ (_mocapInitialized << SENSOR_MOCAP);
_pub_est_status.get().pos_horiz_accuracy = _pub_gpos.get().eph;
_pub_est_status.get().pos_vert_accuracy = _pub_gpos.get().epv;
_pub_est_status.update();
}