Detect programaly what ek3_source is curently used

ArduCopter
1

Hi,
I am working on visual slam based odometry source. I have managed to use my odometry via mavlink.
I setup
EK3_SRC2_POSXY 6
EK3_SRC2_VELXY 6
and set:
The active set can be selected via an RC auxiliary switch (e.g. set RCx_OPTION to “90” / “EKF Source Set”).
And it even somehow works.
The problem I have, then pilot switch ekf sources, information is shown in Ground station, but as log message, and this message sometimes is missed by pilot, specially then he switch sources online.
So It will be good to have capability to know witch source is used, and also it will be very use full to have access to this information via mavlink, in such case I will have capability to change some parameters based on source (for example LOIT_ACC_MAX)

So if there is any capability to know what source is currently used programmatically via some mavlink request?

2

I have searched something in the code, and found lua script:

–returns active source set used by EKF3
– can be used for infering the current source set in use without RC for autonomous source switching

active_source_set.lua:

function update() -- this is the loop which periodically runs

  gcs:send_text(0, string.format("current source  set in use :%d", ahrs:get_posvelyaw_source_set()))

  return update, 1000 -- 1000ms reschedules the loop (1Hz)
end

return update() -- run immediately before starting to reschedule

so it seems, this can message source once per some time, the only thing that is left, to
make this information visible by mavlink. Is it possible to make some
parameter in lua, and to be able to read it by mavlink?