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docs/en/msg_docs/YawEstimatorStatus.md
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@@ -1,8 +1,30 @@
---
pageClass: is-wide-page
---
# YawEstimatorStatus (UORB message)
**TOPICS:** yaw_estimatorstatus
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/YawEstimatorStatus.msg)
| 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)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/YawEstimatorStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -16,5 +38,6 @@ 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
```
:::