AP_NavEKF3: Allow reporting of origin height for specified instance

libraries/AP_NavEKF3/AP_NavEKF3.cpp

@@ -1001,15 +1001,17 @@ bool NavEKF3::getLLH(struct Location &loc) const
     return core[primary].getLLH(loc);
 }
 
-// return the latitude and longitude and height used to set the NED origin
+// Return the latitude and longitude and height used to set the NED origin for the specified instance
+// An out of range instance (eg -1) returns data for the the primary instance
 // All NED positions calculated by the filter are relative to this location
 // Returns false if the origin has not been set
-bool NavEKF3::getOriginLLH(struct Location &loc) const
+bool NavEKF3::getOriginLLH(int8_t instance, struct Location &loc) const
 {
+    if (instance < 0 || instance >= num_cores) instance = primary;
     if (!core) {
         return false;
     }
-    return core[primary].getOriginLLH(loc);
+    return core[instance].getOriginLLH(loc);
 }
 
 // set the latitude and longitude and height used to set the NED origin

libraries/AP_NavEKF3/AP_NavEKF3.h

@@ -147,10 +147,11 @@ public:
     // The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
     bool getLLH(struct Location &loc) const;
 
-    // return the latitude and longitude and height used to set the NED origin
+    // Return the latitude and longitude and height used to set the NED origin for the specified instance
+    // An out of range instance (eg -1) returns data for the the primary instance
     // All NED positions calculated by the filter are relative to this location
     // Returns false if the origin has not been set
-    bool getOriginLLH(struct Location &loc) const;
+    bool getOriginLLH(int8_t instance, struct Location &loc) const;
 
     // set the latitude and longitude and height used to set the NED origin
     // All NED positions calculated by the filter will be relative to this location