From c6e88ccbb9d65330299576fd8886300113baa5f0 Mon Sep 17 00:00:00 2001
From: Pietro Campolucci <45997587+pcampolucci@users.noreply.github.com>
Date: Wed, 15 Sep 2021 16:31:21 +0200
Subject: [PATCH] added more INS_EKF2 debugging options + OPTICAL_FLOW (#150)

---
 message_definitions/v1.0/messages.xml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/message_definitions/v1.0/messages.xml b/message_definitions/v1.0/messages.xml
index 642a745..de53ecc 100644
--- a/message_definitions/v1.0/messages.xml
+++ b/message_definitions/v1.0/messages.xml
@@ -1505,8 +1505,11 @@
       <field name="innov_hgt"             type="float"/>
       <field name="innov_tas"             type="float"/>
       <field name="innov_hagl"            type="float"/>
+      <field name="innov_flow"            type="float"/>
       <field name="innov_beta"            type="float"/>
       <field name="mag_decl"              type="float" unit="deg">Magnetic declination</field>
+      <field name="terrain_status"        type="uint8" values="INVALID|VALID">terrain detection for valid for ground sensors</field>
+      <field name="dead_reckoning"        type="uint8" values="INACTIVE|ACTIVE">active if all positioning sensors fail</field>
     </message>
 
     <message name="ROTORCRAFT_CAM" id="168">
@@ -1942,6 +1945,7 @@
       <field name="flow_comp_m_y" type="float" unit="m"/>
       <field name="flow_quality" type="uint8"/>
       <field name="ground_distance" type="float" unit="m"/>
+      <field name="distance_compensated" type="float" unit="mm"/>
       <field name="distance_quality" type="uint8"/>
     </message>