From 490ef96471d280c53409b69d7309fe60269dab11 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 24 Dec 2015 13:30:30 +0100
Subject: [PATCH] Attitude estimator Q: Also fill Quaternion field

---
 src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index f253362dae..d54cdc208b 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -590,6 +590,8 @@ void AttitudeEstimatorQ::task_main()
 		/* copy rotation matrix */
 		memcpy(&att.R[0], R.data, sizeof(att.R));
 		att.R_valid = true;
+		memcpy(&att.q[0], _q.data, sizeof(att.q));
+		att.q_valid = true;
 
 		att.rate_vibration = _voter_gyro.get_vibration_factor(hrt_absolute_time());
 		att.accel_vibration = _voter_accel.get_vibration_factor(hrt_absolute_time());