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# EstimatorStates (UORB message)

**TOPICS:** estimator_states

## 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) |
| states           | `float32[25]` |              |            | Internal filter states                       |
| n_states         | `uint8`       |              |            | Number of states effectively used            |
| covariances      | `float32[24]` |              |            | Diagonal Elements of Covariance Matrix       |

## Source Message

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

float32[25] states		# Internal filter states
uint8 n_states		# Number of states effectively used

float32[24] covariances	# Diagonal Elements of Covariance Matrix
```

:::
