Commit finished attitude estim cleanup

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c

@@ -427,6 +427,13 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 			att.pitchspeed = x_aposteriori[1];
 			att.yawspeed = x_aposteriori[2];
 
+			/* copy offsets */
+			memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
+
+			/* copy rotation matrix */
+			memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
+			att.R_valid = true;
+
 			// Broadcast
 			orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
 		}

apps/uORB/topics/vehicle_attitude.h

@@ -74,6 +74,7 @@ struct vehicle_attitude_s {
 	float rollspeed;      /**< Roll angular speed (rad/s, Tait-Bryan, NED)   LOGME    */
 	float pitchspeed;     /**< Pitch angular speed (rad/s, Tait-Bryan, NED)  LOGME    */
 	float yawspeed;       /**< Yaw angular speed (rad/s, Tait-Bryan, NED)    LOGME    */
+	float rate_offsets[3];/**< Offsets of the body angular rates from zero */
 	float R[3][3];        /**< Rotation matrix body to world, (Tait-Bryan, NED)       */
 	float q[4];           /**< Quaternion (NED) */
 	bool R_valid;         /**< Rotation matrix valid */