Add filter control logic

EKF/ekf_helper.cpp

@@ -254,3 +254,18 @@ void Ekf::get_covariances(float *covariances)
 		covariances[i] = P[i][i];
 	}
 }
+
+// get the position and height of the ekf origin in WGS-84 coordinates and time the origin was set
+void Ekf::get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt)
+{
+    memcpy(origin_time, &_last_gps_origin_time_us, sizeof(uint64_t));
+    memcpy(origin_pos, &_pos_ref, sizeof(map_projection_reference_s));
+    memcpy(origin_alt, &_gps_alt_ref, sizeof(float));
+}
+
+// set the vehicle arm status
+void Ekf::set_arm_status(bool data)
+{
+    _vehicle_armed = data;
+
+}