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44 lines
2.6 KiB
Markdown
44 lines
2.6 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# YawEstimatorStatus (UORB message)
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**TOPICS:** yaw_estimator_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ------------------------------------------------------- | ------------ | ------------ | ---------- | ----------------------------------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_timestamp_sample"></a>timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| <a id="fld_yaw_composite"></a>yaw_composite | `float32` | | | composite yaw from GSF (rad) |
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| <a id="fld_yaw_variance"></a>yaw_variance | `float32` | | | composite yaw variance from GSF (rad^2) |
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| <a id="fld_yaw_composite_valid"></a>yaw_composite_valid | `bool` | | |
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| <a id="fld_yaw"></a>yaw | `float32[5]` | | | yaw estimate for each model in the filter bank (rad) |
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| <a id="fld_innov_vn"></a>innov_vn | `float32[5]` | | | North velocity innovation for each model in the filter bank (m/s) |
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| <a id="fld_innov_ve"></a>innov_ve | `float32[5]` | | | East velocity innovation for each model in the filter bank (m/s) |
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| <a id="fld_weight"></a>weight | `float32[5]` | | | weighting for each model in the filter bank |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/YawEstimatorStatus.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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float32 yaw_composite # composite yaw from GSF (rad)
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float32 yaw_variance # composite yaw variance from GSF (rad^2)
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bool yaw_composite_valid
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float32[5] yaw # yaw estimate for each model in the filter bank (rad)
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float32[5] innov_vn # North velocity innovation for each model in the filter bank (m/s)
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float32[5] innov_ve # East velocity innovation for each model in the filter bank (m/s)
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float32[5] weight # weighting for each model in the filter bank
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```
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:::
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