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ekf2: publish control state gyro bias data

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Paul Riseborough
2017-01-04 14:47:45 +01:00
committed by Lorenz Meier
parent 28488cfcd0
commit 27e6f07485
1 changed files with 3 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+3
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@@ -711,6 +711,9 @@ void Ekf2::task_main()
ctrl_state.roll_rate = _lp_roll_rate.apply(gyro_rad[0]);
ctrl_state.pitch_rate = _lp_pitch_rate.apply(gyro_rad[1]);
ctrl_state.yaw_rate = _lp_yaw_rate.apply(gyro_rad[2]);
ctrl_state.roll_rate_bias = gyro_bias[0];
ctrl_state.pitch_rate_bias = gyro_bias[1];
ctrl_state.yaw_rate_bias = gyro_bias[2];
// Velocity in body frame
Vector3f v_n(velocity);