Write out yaw into position topics

11 years ago · 4038d3e04e
1 changed files with 1 additions and 0 deletions
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@ -931,6 +931,7 @@ FixedwingEstimator::task_main()
				@@ -931,6 +931,7 @@ FixedwingEstimator::task_main()
 				_local_pos.xy_global = true;

 				_local_pos.z_global = false;
+				_local_pos.yaw = _att.yaw;

 				/* lazily publish the local position only once available */
 				if (_local_pos_pub > 0) {