publish acceleration in control state

9 years ago · c2c6b222bf
1 changed files with 4 additions and 0 deletions
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@ -615,6 +615,10 @@ void AttitudeEstimatorQ::task_main()
				@@ -615,6 +615,10 @@ void AttitudeEstimatorQ::task_main()
 			ctrl_state.q[2] = _q(2);
 			ctrl_state.q[3] = _q(3);

+			ctrl_state.x_acc = _accel(0);
+			ctrl_state.y_acc = _accel(1);
+			ctrl_state.z_acc = _accel(2);
+
 			/* attitude rates for control state */
 			ctrl_state.roll_rate = _lp_roll_rate.apply(_rates(0));