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# MagnetometerBiasEstimate (UORB message)

**TOPICS:** magnetometer_bias_estimate

## Fields

| Name      | Type         | Unit [Frame] | Range/Enum | Description                            |
| --------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64`     |              |            | time since system start (microseconds) |
| bias_x    | `float32[4]` |              |            | estimated X-bias of all the sensors    |
| bias_y    | `float32[4]` |              |            | estimated Y-bias of all the sensors    |
| bias_z    | `float32[4]` |              |            | estimated Z-bias of all the sensors    |
| valid     | `bool[4]`    |              |            | true if the estimator has converged    |
| stable    | `bool[4]`    |              |            |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MagnetometerBiasEstimate.msg)

::: details Click here to see original file

```c
uint64 timestamp                # time since system start (microseconds)

float32[4] bias_x		# estimated X-bias of all the sensors
float32[4] bias_y		# estimated Y-bias of all the sensors
float32[4] bias_z		# estimated Z-bias of all the sensors

bool[4] valid			# true if the estimator has converged
bool[4] stable
```

:::
