AP_AHRS: added send_ekf_status_report()

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -709,5 +709,18 @@ bool AP_AHRS_NavEKF::resetHeightDatum(void)
     return false;    
 }
 
+// send a EKF_STATUS_REPORT for current EKF
+void AP_AHRS_NavEKF::send_ekf_status_report(mavlink_channel_t chan)
+{
+    switch (active_EKF_type()) {
+    case EKF_TYPE1:
+    default:
+        return EKF1.send_status_report(chan);
+
+    case EKF_TYPE2:
+        return EKF2.send_status_report(chan);
+    }    
+}
+
 #endif // AP_AHRS_NAVEKF_AVAILABLE
 

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -152,6 +152,9 @@ public:
     // Returns true if the height datum reset has been performed
     // If using a range finder for height no reset is performed and it returns false
     bool resetHeightDatum(void);
+
+    // send a EKF_STATUS_REPORT for current EKF
+    void send_ekf_status_report(mavlink_channel_t chan);
     
 private:
     enum EKF_TYPE {EKF_TYPE_NONE, EKF_TYPE1, EKF_TYPE2};