From 84d7eb2900b4b892576b6fdf555475872231e5f4 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Mon, 18 Dec 2017 15:50:04 +0100 Subject: [PATCH] ekf2: added beta test ratio to estimator_status Signed-off-by: CarlOlsson --- msg/estimator_status.msg | 1 + src/modules/ekf2/ekf2_main.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg index 74baecb28e..94b523cd20 100644 --- a/msg/estimator_status.msg +++ b/msg/estimator_status.msg @@ -86,6 +86,7 @@ float32 pos_test_ratio # ratio of the largest horizontal position innovation com float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit +float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use. # 0 - True if the attitude estimate is good diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 0ad790918f..2e2697b692 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -1095,7 +1095,7 @@ void Ekf2::run() _ekf.get_innovation_test_status(&status.innovation_check_flags, &status.mag_test_ratio, &status.vel_test_ratio, &status.pos_test_ratio, &status.hgt_test_ratio, &status.tas_test_ratio, - &status.hagl_test_ratio); + &status.hagl_test_ratio, &status.beta_test_ratio); status.pos_horiz_accuracy = _vehicle_local_position_pub.get().eph; status.pos_vert_accuracy = _vehicle_local_position_pub.get().epv;