From 3f043dd933b9922a654e27b5d91a5c870d47bb21 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 13 Aug 2021 08:57:26 +1000
Subject: [PATCH] AP_AHRS: added get_view_rotation()

---
 libraries/AP_AHRS/AP_AHRS.cpp    | 7 +++++++
 libraries/AP_AHRS/AP_AHRS.h      | 3 +++
 libraries/AP_AHRS/AP_AHRS_View.h | 6 ++++++
 3 files changed, 16 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 18ce1af884..044d245cf7 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -3058,6 +3058,13 @@ void AP_AHRS::set_alt_measurement_noise(float noise)
 #endif
 }
 
+/*
+  get the current views rotation, or ROTATION_NONE
+ */
+enum Rotation AP_AHRS::get_view_rotation(void) const
+{
+    return _view?_view->get_rotation():ROTATION_NONE;
+}
 
 // singleton instance
 AP_AHRS *AP_AHRS::_singleton;
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index b1bcb3a094..046919bd95 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -457,6 +457,9 @@ public:
         _vehicle_class = vclass;
     }
 
+    // get the views rotation, or ROTATION_NONE
+    enum Rotation get_view_rotation(void) const;
+
 protected:
     // optional view class
     AP_AHRS_View *_view;
diff --git a/libraries/AP_AHRS/AP_AHRS_View.h b/libraries/AP_AHRS/AP_AHRS_View.h
index 10df0a911d..a5c9440ef1 100644
--- a/libraries/AP_AHRS/AP_AHRS_View.h
+++ b/libraries/AP_AHRS/AP_AHRS_View.h
@@ -185,6 +185,12 @@ public:
     int32_t pitch_sensor;
     int32_t yaw_sensor;
 
+
+    // get current rotation
+    enum Rotation get_rotation(void) const {
+        return rotation;
+    }
+
 private:
     const enum Rotation rotation;
     AP_AHRS &ahrs;