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# EstimatorInnovations (UORB message)

**TOPICS:** estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios

## 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)                                                                            |
| gps_hvel         | `float32[2]` |              |                                                                                             | horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2)                                       |
| `float32`        |              |              | vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2)             |
| gps_hpos         | `float32[2]` |              |                                                                                             | horizontal GPS position innovation (m) and innovation variance (m\*\*2)                                                 |
| `float32`        |              |              | vertical GPS position innovation (m) and innovation variance (m\*\*2)                       |
| ev_hvel          | `float32[2]` |              |                                                                                             | horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2)                           |
| `float32`        |              |              | vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)\*\*2) |
| ev_hpos          | `float32[2]` |              |                                                                                             | horizontal external vision position innovation (m) and innovation variance (m\*\*2)                                     |
| `float32`        |              |              | vertical external vision position innovation (m) and innovation variance (m\*\*2)           |
| rng_vpos         | `float32`    |              |                                                                                             | range sensor height innovation (m) and innovation variance (m\*\*2)                                                     |
| baro_vpos        | `float32`    |              |                                                                                             | barometer height innovation (m) and innovation variance (m\*\*2)                                                        |
| aux_hvel         | `float32[2]` |              |                                                                                             | horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)\*\*2) |
| flow             | `float32[2]` |              |                                                                                             | flow innvoation (rad/sec) and innovation variance ((rad/sec)\*\*2)                                                      |
| heading          | `float32`    |              |                                                                                             | heading innovation (rad) and innovation variance (rad\*\*2)                                                             |
| mag_field        | `float32[3]` |              |                                                                                             | earth magnetic field innovation (Gauss) and innovation variance (Gauss\*\*2)                                            |
| gravity          | `float32[3]` |              |                                                                                             | gravity innovation from accelerometerr vector (m/s\*\*2)                                                                |
| drag             | `float32[2]` |              |                                                                                             | drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)                                          |
| airspeed         | `float32`    |              |                                                                                             | airspeed innovation (m/sec) and innovation variance ((m/sec)\*\*2)                                                      |
| beta             | `float32`    |              |                                                                                             | synthetic sideslip innovation (rad) and innovation variance (rad\*\*2)                                                  |
| hagl             | `float32`    |              |                                                                                             | height of ground innovation (m) and innovation variance (m\*\*2)                                                        |
| hagl_rate        | `float32`    |              |                                                                                             | height of ground rate innovation (m/s) and innovation variance ((m/s)\*\*2)                                             |

## Source Message

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

# GPS
float32[2] gps_hvel	# horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32    gps_vvel	# vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] gps_hpos	# horizontal GPS position innovation (m) and innovation variance (m**2)
float32    gps_vpos	# vertical GPS position innovation (m) and innovation variance (m**2)

# External Vision
float32[2] ev_hvel	# horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32    ev_vvel	# vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
float32[2] ev_hpos	# horizontal external vision position innovation (m) and innovation variance (m**2)
float32    ev_vpos	# vertical external vision position innovation (m) and innovation variance (m**2)

# Height sensors
float32 rng_vpos	# range sensor height innovation (m) and innovation variance (m**2)
float32 baro_vpos	# barometer height innovation (m) and innovation variance (m**2)

# Auxiliary velocity
float32[2] aux_hvel	# horizontal auxiliary velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)

# Optical flow
float32[2] flow		# flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)

# Various
float32 heading		# heading innovation (rad) and innovation variance (rad**2)
float32[3] mag_field	# earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
float32[3] gravity	# gravity innovation from accelerometerr vector (m/s**2)
float32[2] drag		# drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
float32 airspeed	# airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
float32 beta		# synthetic sideslip innovation (rad) and innovation variance (rad**2)
float32 hagl		# height of ground innovation (m) and innovation variance (m**2)
float32 hagl_rate	# height of ground rate innovation (m/s) and innovation variance ((m/s)**2)

# The innovation test ratios are scalar values. In case the field is a vector,
# the test ratio will be put in the first component of the vector.

# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
```

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