PX4-Autopilot/docs/en/msg_docs/YawEstimatorStatus.md

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YawEstimatorStatus (UORB message)

TOPICS: yaw_estimator_status

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64			time since system start (microseconds)
timestamp_sample	uint64			the timestamp of the raw data (microseconds)
yaw_composite	float32			composite yaw from GSF (rad)
yaw_variance	float32			composite yaw variance from GSF (rad^2)
yaw_composite_valid	bool
yaw	float32[5]			yaw estimate for each model in the filter bank (rad)
innov_vn	float32[5]			North velocity innovation for each model in the filter bank (m/s)
innov_ve	float32[5]			East velocity innovation for each model in the filter bank (m/s)
weight	float32[5]			weighting for each model in the filter bank

Source Message

Source file (GitHub)

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uint64 timestamp		# time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

float32 yaw_composite	# composite yaw from GSF (rad)
float32 yaw_variance	# composite yaw variance from GSF (rad^2)
bool yaw_composite_valid

float32[5] yaw		# yaw estimate for each model in the filter bank (rad)
float32[5] innov_vn	# North velocity innovation for each model in the filter bank (m/s)
float32[5] innov_ve	# East velocity innovation for each model in the filter bank (m/s)
float32[5] weight	# weighting for each model in the filter bank

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