added beta innovations to ekf_innovations

maxond · Nov 15, 2016 · 5435b99 · 5435b99
1 parent e4f5710
commit 5435b99
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg
@@ -2,12 +2,14 @@ float32[6] vel_pos_innov # velocity and position innovations
 float32[3] mag_innov # earth magnetic field innovations
 float32 heading_innov # heading innovation
 float32 airspeed_innov # airspeed innovation
+float32 beta_innov # synthetic sideslip innovation
 float32[2] flow_innov # flow innovation
 float32 hagl_innov # innovation from the terrain estimator for the height above ground level measurement (m)
 float32[6] vel_pos_innov_var # velocity and position innovation variances
 float32[3] mag_innov_var # earth magnetic field innovation variance
 float32 heading_innov_var # heading innovation variance
 float32 airspeed_innov_var # Airspeed innovation variance
+float32 beta_innov_var # synthetic sideslip innovation variance
 float32[2] flow_innov_var # flow innovation variance
 float32 hagl_innov_var # innovation variance from the terrain estimator for the height above ground level measurement (m^2)
 float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)