AP_AHRS: implement get_vibration method on AHRS

libraries/AP_AHRS/AP_AHRS.cpp

@@ -518,6 +518,12 @@ void AP_AHRS::update_nmea_out()
 #endif
 }
 
+// return current vibration vector for primary IMU
+Vector3f AP_AHRS::get_vibration(void) const
+{
+    return AP::ins().get_vibration_levels();
+}
+
 // singleton instance
 AP_AHRS *AP_AHRS::_singleton;
 

libraries/AP_AHRS/AP_AHRS.h

@@ -550,6 +550,9 @@ public:
     // Write position and quaternion data from an external navigation system
     virtual void writeExtNavData(const Vector3f &sensOffset, const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms) { }
 
+    // return current vibration vector for primary IMU
+    Vector3f get_vibration(void) const;
+    
     // allow threads to lock against AHRS update
     HAL_Semaphore &get_semaphore(void) {
         return _rsem;