According to Webster, steadfast means "firmly fixed or established." So here David is emphasizing that his heart (the center of his being, as we would also describe it in our culture) is firmly fixed in an attitude of worship and dependence upon God. A heart like this will not change due to circumstances or emotions.
This passage reminds me of Paul's admonition to the Corinthians in 1 Cor 15.58: "Therefore, my beloved brethren, be steadfast, immovable, always abounding in the work of the Lord." With David our hearts should be fixed, steadfast, immovable, devoted to God despite our own feelings or emotions at the moment. Because we know—as David points out in vs. 10—"for your steadfast love is great to the heavens, your faithfulness to the clouds."
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