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# EstimatorAidSource3d (UORB message)

**TOPICS:** estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag

## Fields

| Name                 | Type         | Unit [Frame] | Range/Enum | Description                                  |
| -------------------- | ------------ | ------------ | ---------- | -------------------------------------------- |
| timestamp            | `uint64`     |              |            | time since system start (microseconds)       |
| timestamp_sample     | `uint64`     |              |            | the timestamp of the raw data (microseconds) |
| estimator_instance   | `uint8`      |              |            |
| device_id            | `uint32`     |              |            |
| time_last_fuse       | `uint64`     |              |            |
| observation          | `float32[3]` |              |            |
| observation_variance | `float32[3]` |              |            |
| innovation           | `float32[3]` |              |            |
| innovation_filtered  | `float32[3]` |              |            |
| innovation_variance  | `float32[3]` |              |            |
| test_ratio           | `float32[3]` |              |            | normalized innovation squared                |
| test_ratio_filtered  | `float32[3]` |              |            | signed filtered test ratio                   |
| innovation_rejected  | `bool`       |              |            | true if the observation has been rejected    |
| fused                | `bool`       |              |            | true if the sample was successfully fused    |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.msg)

::: details Click here to see original file

```c
uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

uint8 estimator_instance

uint32 device_id

uint64 time_last_fuse

float32[3] observation
float32[3] observation_variance

float32[3] innovation
float32[3] innovation_filtered

float32[3] innovation_variance

float32[3] test_ratio           # normalized innovation squared
float32[3] test_ratio_filtered  # signed filtered test ratio

bool innovation_rejected        # true if the observation has been rejected
bool fused                      # true if the sample was successfully fused

# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
```

:::
