From 580cd143b8b78cc890511c2e78845fb477467610 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 8 Jan 2021 11:45:27 +1100
Subject: [PATCH] AP_AccelCal: added active() method

---
 libraries/AP_AccelCal/AP_AccelCal.cpp | 6 ++++++
 libraries/AP_AccelCal/AP_AccelCal.h   | 3 +++
 2 files changed, 9 insertions(+)

diff --git a/libraries/AP_AccelCal/AP_AccelCal.cpp b/libraries/AP_AccelCal/AP_AccelCal.cpp
index 19c61141b2..01f5bcbc07 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.cpp
+++ b/libraries/AP_AccelCal/AP_AccelCal.cpp
@@ -382,3 +382,9 @@ bool AP_AccelCal::gcs_vehicle_position(float position)
 
     return false;
 }
+
+// true if we are in a calibration process
+bool AP_AccelCal::active(void) const
+{
+    return _status == ACCEL_CAL_WAITING_FOR_ORIENTATION || _status == ACCEL_CAL_COLLECTING_SAMPLE;
+}
diff --git a/libraries/AP_AccelCal/AP_AccelCal.h b/libraries/AP_AccelCal/AP_AccelCal.h
index 44dbc5b8c8..0a2ad0cf98 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.h
+++ b/libraries/AP_AccelCal/AP_AccelCal.h
@@ -36,6 +36,9 @@ public:
 
     void handleMessage(const mavlink_message_t &msg);
 
+    // true if we are in a calibration process
+    bool active(void) const;
+
 private:
     GCS_MAVLINK *_gcs;
     bool _use_gcs_snoop;