AP_NavEKF3: Add accessor function for vibration affected status

libraries/AP_NavEKF3/AP_NavEKF3.cpp

@@ -1990,3 +1990,15 @@ bool NavEKF3::yawAlignmentComplete(void) const
     }
     return core[primary].have_aligned_yaw();
 }
+
+// returns true when the state estimates for the selected core are significantly degraded by vibration
+bool NavEKF3::isVibrationAffected(int8_t instance) const
+{
+    if (instance < 0 || instance >= num_cores) {
+        instance = primary;
+    }
+    if (core) {
+        return core[instance].isVibrationAffected();
+    }
+    return false;
+}

libraries/AP_NavEKF3/AP_NavEKF3.h

@@ -351,6 +351,10 @@ public:
     // returns true when the yaw angle has been aligned
     bool yawAlignmentComplete(void) const;
 
+    // returns true when the state estimates for the selected core are significantly degraded by vibration
+    // if instance < 0, the primary instance will be used
+    bool isVibrationAffected(int8_t instance) const;
+
 private:
     uint8_t num_cores; // number of allocated cores
     uint8_t primary;   // current primary core

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -403,6 +403,9 @@ public:
 
     void Log_Write(uint64_t time_us);
 
+    // returns true when the state estimates are significantly degraded by vibration
+    bool isVibrationAffected() const { return badIMUdata; }
+
 private:
     EKFGSF_yaw *yawEstimator;
     AP_DAL &dal;