text: /****************************************************************************
   *
   *   Copyright (C) 2013-2016 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   ****************************************************************************/
  
  /* Auto-generated by genmsg_cpp from file yaw_estimator_status.msg */
  
  
  #include <inttypes.h>
  #include <px4_platform_common/log.h>
  #include <px4_platform_common/defines.h>
  #include <uORB/topics/yaw_estimator_status.h>
  #include <uORB/topics/uORBTopics.hpp>
  #include <drivers/drv_hrt.h>
  #include <lib/drivers/device/Device.hpp>
  
  constexpr char __orb_yaw_estimator_status_fields[] = "uint64_t timestamp;uint64_t timestamp_sample;float yaw_composite;float yaw_variance;float[5] yaw;float[5] innov_vn;float[5] innov_ve;float[5] weight;";
  
  ORB_DEFINE(yaw_estimator_status, struct yaw_estimator_status_s, 104, __orb_yaw_estimator_status_fields, static_cast<uint8_t>(ORB_ID::yaw_estimator_status));
  
  
  void print_message(const yaw_estimator_status_s &message)
  {
  
  	PX4_INFO_RAW(" yaw_estimator_status_s\n");
  
  	const hrt_abstime now = hrt_absolute_time();
  
  	if (message.timestamp != 0) {
  		PX4_INFO_RAW("\ttimestamp: %" PRIu64 "  (%.6f seconds ago)\n", message.timestamp, (now - message.timestamp) / 1e6);
  	} else {
  		PX4_INFO_RAW("\n");
  	}
  	
  	PX4_INFO_RAW("\ttimestamp_sample: %" PRIu64 "  (%" PRIu64 " us before timestamp)\n", message.timestamp_sample, message.timestamp - message.timestamp_sample);
  	
  	PX4_INFO_RAW("\tyaw_composite: %.4f\n", (double)message.yaw_composite);
  	PX4_INFO_RAW("\tyaw_variance: %.4f\n", (double)message.yaw_variance);
  	PX4_INFO_RAW("\tyaw: [%.4f, %.4f, %.4f, %.4f, %.4f]\n", (double)message.yaw[0], (double)message.yaw[1], (double)message.yaw[2], (double)message.yaw[3], (double)message.yaw[4]);
  	PX4_INFO_RAW("\tinnov_vn: [%.4f, %.4f, %.4f, %.4f, %.4f]\n", (double)message.innov_vn[0], (double)message.innov_vn[1], (double)message.innov_vn[2], (double)message.innov_vn[3], (double)message.innov_vn[4]);
  	PX4_INFO_RAW("\tinnov_ve: [%.4f, %.4f, %.4f, %.4f, %.4f]\n", (double)message.innov_ve[0], (double)message.innov_ve[1], (double)message.innov_ve[2], (double)message.innov_ve[3], (double)message.innov_ve[4]);
  	PX4_INFO_RAW("\tweight: [%.4f, %.4f, %.4f, %.4f, %.4f]\n", (double)message.weight[0], (double)message.weight[1], (double)message.weight[2], (double)message.weight[3], (double)message.weight[4]);
  
  }
  