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publish acceleration in control state

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tumbili
2016-04-12 14:22:59 +02:00
parent 22847e49e7
commit c2c6b222bf
1 changed files with 4 additions and 0 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
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@@ -615,6 +615,10 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.q[2] = _q(2);
ctrl_state.q[3] = _q(3);
ctrl_state.x_acc = _accel(0);
ctrl_state.y_acc = _accel(1);
ctrl_state.z_acc = _accel(2);
/* attitude rates for control state */
ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));