From 83775554ea61ae498b4732f0e8b00a3a06b910ab Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sun, 16 Nov 2014 10:36:33 +1100
Subject: [PATCH] AP_AHRS: Publish EKF ground speed limit

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 9 ++++++++-
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   | 3 +++
 2 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 91eebf8848..08b641ca4e 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -324,7 +324,14 @@ void  AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlo
 // inhibit GPS useage
 uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
 {
-    return EKF.setInhibitGPS();;
+    return EKF.setInhibitGPS();
 }
+
+// get speed limit
+float AP_AHRS_NavEKF::getSpeedLimit(void)
+{
+    return EKF.getSpeedLimit();
+}
+
 #endif // AP_AHRS_NAVEKF_AVAILABLE
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 1ee3441b84..6313a09e35 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -107,6 +107,9 @@ public:
     // inibit GPS useage
     uint8_t setInhibitGPS(void);
 
+    // get speed limit
+    float getSpeedLimit(void);
+
     void set_ekf_use(bool setting) { _ekf_use.set(setting); }
 
     // is the AHRS subsystem healthy?