From 70f76e1a6cff82f082def435b1ea81c1ac00c584 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 24 May 2016 07:44:43 +1000
Subject: [PATCH] EKF:  publish innovation consistency check fail status

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

diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index e2c594720b..81ff0d3dc8 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -232,6 +232,12 @@ public:
 	// return the amount the quaternion has changed in the last reset and the time of the reset
 	virtual void get_quat_reset(Quaternion *delta, uint64_t *time_us) = 0;
 
+	// get EKF innovation consistency check status
+	virtual void get_innovation_test_status(uint16_t *val)
+	{
+		*val = _innov_check_fail_status.value;
+	}
+
 protected:
 
 	parameters _params;		// filter parameters