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
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c
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