From cb1b4ab486397c00f9939ac5364442ffa289464e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 12 Mar 2015 12:31:24 +0900
Subject: [PATCH] Plane: send EKF_STATUS_REPORT in extra3 stream

---
 ArduPlane/GCS_Mavlink.pde | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 978bcd239b..9b4e570b7f 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -705,6 +705,13 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
 #endif
         break;
 
+    case MSG_EKF_STATUS_REPORT:
+#if AP_AHRS_NAVEKF_AVAILABLE
+        CHECK_PAYLOAD_SIZE(EKF_STATUS_REPORT);
+        ahrs.get_NavEKF().send_status_report(chan);
+#endif
+        break;
+
     case MSG_RETRY_DEFERRED:
         break; // just here to prevent a warning
 
@@ -940,6 +947,7 @@ GCS_MAVLINK::data_stream_send(void)
         send_message(MSG_BATTERY2);
         send_message(MSG_MOUNT_STATUS);
         send_message(MSG_OPTICAL_FLOW);
+        send_message(MSG_EKF_STATUS_REPORT);
     }
 }