Add internal MRAC variables to status.

diff --git a/msg/TwistMracLinearizingControllerStatus.msg b/msg/TwistMracLinearizingControllerStatus.msg
index 2bd045a..5984e31 100644 (file)
--- a/msg/TwistMracLinearizingControllerStatus.msg
+++ b/msg/TwistMracLinearizingControllerStatus.msg
@@ -9,3 +9,11 @@ float64[2] reference_model
 float64[2] reference_model_dot
 float64[2] reference_model_error
 float64[2] linear_dynamics_command
 float64[2] reference_model_dot
 float64[2] reference_model_error
 float64[2] linear_dynamics_command

+bool adaptive
+float64[2] epsilon
+float64[8] regressor
+float64[8] filtered_regressor
+float64[2] filtered_error
+float64[2] augmented_error
+float64[4] estimated_parameters
+float64[16] covariance