From d44cf14178045126aef931b1f607982244c61dba Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 16 Mar 2015 14:29:11 -0700
Subject: [PATCH] AP_AHRS : Publish EKF learned compass offsets

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 8 ++++++++
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   | 4 ++++
 2 files changed, 12 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 5b70f6ac56..af6f2773a6 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -344,5 +344,13 @@ void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVel
     EKF.getEkfControlLimits(ekfGndSpdLimit,ekfNavVelGainScaler);
 }
 
+// get compass offset estimates
+// true if offsets are valid
+bool AP_AHRS_NavEKF::getMagOffsets(Vector3f &magOffsets)
+{
+    bool status = EKF.getMagOffsets(magOffsets);
+    return status;
+}
+
 #endif // AP_AHRS_NAVEKF_AVAILABLE
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index d7a2982777..28cd22e6ea 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -120,6 +120,10 @@ public:
     // true if the AHRS has completed initialisation
     bool initialised(void) const;
 
+    // get compass offset estimates
+    // true if offsets are valid
+    bool getMagOffsets(Vector3f &magOffsets);
+
 private:
     bool using_EKF(void) const;