YawEstimatorStatus (повідомлення UORB)

вихідний файл

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