ekf2: added beta test ratio to estimator_status

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>

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

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;