AP_AHRS: Add accessor function for vibration affected status

AP_AHRS: fix rebase build error

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -2487,6 +2487,29 @@ bool AP_AHRS_NavEKF::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vec
     return false;
 }
 
+// returns true when the state estimates are significantly degraded by vibration
+bool AP_AHRS::is_vibration_affected() const
+{
+    switch (ekf_type()) {
+#if HAL_NAVEKF3_AVAILABLE
+    case EKFType::THREE:
+        return EKF3.isVibrationAffected(-1);
+#endif
+    case EKFType::NONE:
+#if HAL_NAVEKF2_AVAILABLE
+    case EKFType::TWO:
+#endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    case EKFType::SITL:
+#endif
+#if HAL_EXTERNAL_AHRS_ENABLED
+    case EKFType::EXTERNAL:
+#endif
+        return false;
+    }
+    return false;
+}
+
 // get_variances - provides the innovations normalised using the innovation variance where a value of 0
 // indicates prefect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
 // inconsistency that will be accpeted by the filter

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -259,6 +259,9 @@ public:
     // An out of range instance (eg -1) returns data for the primary instance
     bool get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const override;
 
+    // returns true when the state estimates are significantly degraded by vibration
+    bool is_vibration_affected() const;
+
     // get_variances - provides the innovations normalised using the innovation variance where a value of 0
     // indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
     // inconsistency that will be accepted by the filter