EKF: publish control mode status

9 years ago · 6fa13c7806
1 changed files with 6 additions and 0 deletions
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@ -211,6 +211,12 @@ public:
				@@ -211,6 +211,12 @@ public:

 	virtual void get_accel_bias(float *bias) = 0;

+	// get EKF mode status
+	void get_control_mode(uint16_t *val)
+	{
+		*val = _control_status.value;
+	}
+
 protected:

 	parameters _params;		// filter parameters