Abstract: Yaw estimation systems and methods for an earthmoving machine and control architecture to receive roll and pitch input from an engine end frame (EEF) inertial motion unite (IMU) and from a non-engine end frame (NEEF) IMU, estimate a yaw articulation angle of the NEEF relative to the EEF by at least two different estimation methods based on the received roll and pitch input, fuse the at least two different estimation methods to generate an updated yaw articulation angle, calculate a yaw articulation rate based on the received roll and pitch input, integrate as an integration the updated yaw articulation angle and the yaw articulation rate, generate a real-time yaw articulation angle estimate of the NEEF relative to the EEF based on the integration, and operate the earthmoving machine based on the real-time yaw articulation angle estimate.

Abstract: Resistance feedback is provided to a machine operator via a joystick configured to steer the machine. An electrically actuated magnetic feedback brake unit is associated with the joystick for selectively resisting movement of the joystick. Haptic feedback is provided by determining a machine speed at which the machine is travelling, mapping the determined machine speed to a corresponding joystick resistance value, and mapping the corresponding joystick resistance value to an actuation current. The electrically actuated magnetic feedback brake unit is then actuated at a current substantially exceeding the actuation current until a predetermined level of actuation is reached. Once the predetermined level of actuation is reached, the electrically actuated magnetic feedback brake unit is driven at the actuation current.