From 624f169b9b052aa12d6e940a3c3f990f1fa83b5a Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p-riseborough@live.com.au>
Date: Fri, 6 Nov 2015 22:50:15 +1100
Subject: [PATCH] AP_NavEKF: Publish enabled status

---
 libraries/AP_NavEKF/AP_NavEKF.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h
index ef8c504a7c..455911a21f 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.h
+++ b/libraries/AP_NavEKF/AP_NavEKF.h
@@ -56,6 +56,11 @@ public:
     // Constructor
     NavEKF(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng);
 
+    // allow logging to determine if the EKF is enabled
+    bool enabled(void) const {
+        return (_enable != 0);
+    }
+
     // This function is used to initialise the filter whilst moving, using the AHRS DCM solution
     // It should NOT be used to re-initialise after a timeout as DCM will also be corrupted
     bool InitialiseFilterDynamic(void);