From 6fa13c78061cf19f386df3b1aef1e5d33460c0fd Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 16 Apr 2016 12:41:50 +1000
Subject: [PATCH] EKF: publish control mode status

---
 EKF/estimator_interface.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 6579c8eeeb..11119e39a2 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -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