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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)](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)
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
```

:::