From 7acd5fda22b05797d1d9f985b78807ea96c6f075 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 9 Apr 2016 09:36:47 -0700 Subject: [PATCH] ekf2: send flow sensor yaw rate data --- src/modules/ekf2/ekf2_main.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index ac264a207e..2cecafa996 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -457,6 +457,7 @@ void Ekf2::task_main() flow.quality = optical_flow.quality; flow.gyrodata(0) = optical_flow.gyro_x_rate_integral; flow.gyrodata(1) = optical_flow.gyro_y_rate_integral; + flow.gyrodata(2) = optical_flow.gyro_z_rate_integral; flow.dt = optical_flow.integration_timespan; if (!isnan(optical_flow.pixel_flow_y_integral) && !isnan(optical_flow.pixel_flow_x_integral)) {