AP_NavEKF: Add public method to report available output data

libraries/AP_NavEKF/AP_NavEKF.cpp

@@ -4465,4 +4465,27 @@ void  NavEKF::getFilterTimeouts(uint8_t &timeouts) const
                 magTimeout<<3);
 }
 
+/*
+return filter function status as a bitmasked integer
+ 0 = attitude estimate valid
+ 1 = horizontal velocity estimate valid
+ 2 = vertical velocity estimate valid
+ 3 = relative horizontal position estimate valid
+ 4 = absolute horizontal position estimate valid
+ 5 = vertical position estimate valid
+ 6 = terrain height estimate valid
+ 7 = unassigned
+*/
+void  NavEKF::getFilterStatus(uint8_t &status) const
+{
+    // add code to set bits using private filter data here
+    status = (!state.quat.is_nan()<<0 |
+              !(velTimeout && posTimeout)<<1 |
+              !((velTimeout && hgtTimeout) || (hgtTimeout && _fusionModeGPS > 0))<<2 |
+              (gpsInhibitMode == 2 && (imuSampleTime_ms - flowMeaTime_ms) < 1000)<<3 |
+              !posTimeout<<4 |
+              !hgtTimeout<<5 |
+              !inhibitGndState<<6);
+}
+
 #endif // HAL_CPU_CLASS

libraries/AP_NavEKF/AP_NavEKF.h

@@ -197,6 +197,19 @@ public:
     */
     void  getFilterTimeouts(uint8_t &timeouts) const;
 
+    /*
+    return filter function status as a bitmasked integer
+     0 = attitude estimate valid
+     1 = horizontal velocity estimate valid
+     2 = vertical velocity estimate valid
+     3 = relative horizontal position estimate valid
+     4 = absolute horizontal position estimate valid
+     5 = vertical position estimate valid
+     6 = terrain height estimate valid
+     7 = unassigned
+    */
+    void  getFilterStatus(uint8_t &status) const;
+
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
@@ -546,6 +559,7 @@ private:
     float firstArmPosD;             // vertical position at the first arming (transition from sttatic mode) after start up
     bool firstArmComplete;          // true when first transition out of static mode has been performed after start up
     bool finalMagYawInit;           // true when the final post takeoff initialisation of earth field and yaw angle has been performed
+    bool flowTimeout;               // true when optical flow measurements have time out
 
     // Used by smoothing of state corrections
     float gpsIncrStateDelta[10];    // vector of corrections to attitude, velocity and position to be applied over the period between the current and next GPS measurement