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# HoverThrustEstimate (UORB message)

**TOPICS:** hover_thrust_estimate

## Fields

| Name                   | Type      | Unit [Frame] | Range/Enum | Description                                                             |
| ---------------------- | --------- | ------------ | ---------- | ----------------------------------------------------------------------- |
| timestamp              | `uint64`  |              |            | time since system start (microseconds)                                  |
| timestamp_sample       | `uint64`  |              |            | time of corresponding sensor data last used for this estimate           |
| hover_thrust           | `float32` |              |            | estimated hover thrust [0.1, 0.9]                                       |
| hover_thrust_var       | `float32` |              |            | estimated hover thrust variance                                         |
| accel_innov            | `float32` |              |            | innovation of the last acceleration fusion                              |
| accel_innov_var        | `float32` |              |            | innovation variance of the last acceleration fusion                     |
| accel_innov_test_ratio | `float32` |              |            | normalized innovation squared test ratio                                |
| accel_noise_var        | `float32` |              |            | vertical acceleration noise variance estimated form innovation residual |
| valid                  | `bool`    |              |            |

## Source Message

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

::: details Click here to see original file

```c
uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # time of corresponding sensor data last used for this estimate

float32 hover_thrust		# estimated hover thrust [0.1, 0.9]
float32 hover_thrust_var	# estimated hover thrust variance

float32 accel_innov		# innovation of the last acceleration fusion
float32 accel_innov_var		# innovation variance of the last acceleration fusion
float32 accel_innov_test_ratio	# normalized innovation squared test ratio

float32 accel_noise_var		# vertical acceleration noise variance estimated form innovation residual

bool valid
```

:::
