ekf2: yaw estimator add yaw_composite_valid boolean

msg/yaw_estimator_status.msg

@@ -3,6 +3,7 @@ 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)

src/modules/ekf2/EKF/ekf.h

@@ -338,6 +338,9 @@ public:
 	bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
 			   float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
 
+	// Returns true if the output of the yaw emergency estimator can be used for a reset
+	bool isYawEmergencyEstimateAvailable() const;
+
 	const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
 
 	const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
@@ -1062,9 +1065,6 @@ private:
 	// Returns true if the reset was successful
 	bool resetYawToEKFGSF();
 
-	// Returns true if the output of the yaw emergency estimator can be used for a reset
-	bool isYawEmergencyEstimateAvailable() const;
-
 	void resetGpsDriftCheckFilters();
 
 	bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status) const

src/modules/ekf2/EKF2.cpp

@@ -1384,6 +1384,7 @@ void EKF2::PublishYawEstimatorStatus(const hrt_abstime &timestamp)
 			       yaw_est_test_data.innov_vn, yaw_est_test_data.innov_ve,
 			       yaw_est_test_data.weight)) {
 
+		yaw_est_test_data.yaw_composite_valid = _ekf.isYawEmergencyEstimateAvailable();
 		yaw_est_test_data.timestamp_sample = _ekf.get_imu_sample_delayed().time_us;
 		yaw_est_test_data.timestamp = _replay_mode ? timestamp : hrt_absolute_time();