EKF: publish GPS check status

EKF/ekf.h

@@ -123,6 +123,9 @@ public:
 
 	void get_accel_bias(float *bias) {*bias = _state.accel_z_bias;}
 
+	// get GPS check status
+	void get_gps_check_status(uint16_t *_gps_check_fail_status);
+
 private:
 
 	static const uint8_t _k_num_states = 24;

EKF/ekf_helper.cpp

@@ -316,6 +316,12 @@ void Ekf::get_heading_innov_var(float *heading_innov_var)
 	memcpy(heading_innov_var, &_heading_innov_var, sizeof(float));
 }
 
+// get GPS check status
+void Ekf::get_gps_check_status(uint16_t *val)
+{
+	memcpy(val, &_gps_check_fail_status, sizeof(uint16_t));
+}
+
 // get the state vector at the delayed time horizon
 void Ekf::get_state_delayed(float *state)
 {

EKF/estimator_interface.h

@@ -217,6 +217,9 @@ public:
 		*val = _control_status.value;
 	}
 
+	// get GPS check status
+	virtual void get_gps_check_status(uint16_t *val) = 0;
+
 protected:
 
 	parameters _params;		// filter parameters