From c66ed7b662f7f646069a88b62701f62ad5173a4f Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 7 May 2016 21:18:00 +1000
Subject: [PATCH] EKF: Add interface method for filter fault status

---
 EKF/estimator_interface.h | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 191f1a0cd9..5806d17f87 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -217,6 +217,12 @@ public:
 		*val = _control_status.value;
 	}
 
+	// get EKF internal fault status
+	void get_filter_fault_status(uint16_t *val)
+	{
+		*val = _fault_status.value;
+	}
+
 	// get GPS check status
 	virtual void get_gps_check_status(uint16_t *val) = 0;