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---
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pageClass: is-wide-page
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---
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# EstimatorFusionControl (UORB message)
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**TOPICS:** estimator_fusion_control
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------- | --------- | ------------ | ---------- | -------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| gps_intended | `bool[2]` | | |
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| of_intended | `bool` | | |
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| ev_intended | `bool` | | |
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| agp_intended | `bool[4]` | | |
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| baro_intended | `bool` | | |
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| rng_intended | `bool` | | |
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| mag_intended | `bool` | | |
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| aspd_intended | `bool` | | |
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| rngbcn_intended | `bool` | | |
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| gps_active | `bool[2]` | | |
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| of_active | `bool` | | |
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| ev_active | `bool` | | |
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| agp_active | `bool[4]` | | |
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| baro_active | `bool` | | |
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| rng_active | `bool` | | |
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| mag_active | `bool` | | |
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| aspd_active | `bool` | | |
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| rngbcn_active | `bool` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorFusionControl.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
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bool[2] gps_intended
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bool of_intended
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bool ev_intended
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bool[4] agp_intended
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bool baro_intended
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bool rng_intended
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bool mag_intended
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bool aspd_intended
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bool rngbcn_intended
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# whether the estimator is actively fusing data from each source
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bool[2] gps_active
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bool of_active
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bool ev_active
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bool[4] agp_active
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bool baro_active
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bool rng_active
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bool mag_active
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bool aspd_active
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bool rngbcn_active
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```
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:::
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@@ -1458,6 +1458,20 @@ None
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| 6 | | | ? |
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| 7 | | | ? |
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### VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE (43006)
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Enable/disable estimator sensor fusion.
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| Param | Units | Range/Enum | Description |
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| ----- | ----- | ---------- | ---------------------------------- |
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| 1 | | | Source (FUSION*SOURCE*\*) |
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| 2 | | | Sensor instance (0-based) |
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| 3 | | | Enable (1) or Disable (0) |
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| 4 | | | Estimator Instance (NaN: not used) |
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| 5 | | | Empty |
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| 6 | | | Empty |
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| 7 | | | Empty |
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### VEHICLE_CMD_PX4_INTERNAL_START (65537)
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Start of PX4 internal only vehicle commands (> UINT16_MAX).
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@@ -1544,6 +1558,15 @@ Change mode by specifying nav_state directly.
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| --------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------------------------------------------------------------------------------------------------- |
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| <a id="#MESSAGE_VERSION"></a> MESSAGE_VERSION | `uint32` | 0 |
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| <a id="#PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION"></a> PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION | `uint16` | 3 | Param value for VEHICLE_CMD_PREFLIGHT_CALIBRATION to start temperature calibration. |
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| <a id="#FUSION_SOURCE_GPS"></a> FUSION_SOURCE_GPS | `uint8` | 0 | GNSS (EKF2_GPS{i}\_CTRL, use instance param) |
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| <a id="#FUSION_SOURCE_OF"></a> FUSION_SOURCE_OF | `uint8` | 1 | Optical Flow (EKF2_OF_CTRL) |
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| <a id="#FUSION_SOURCE_EV"></a> FUSION_SOURCE_EV | `uint8` | 2 | External Vision (EKF2_EV_CTRL) |
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| <a id="#FUSION_SOURCE_AGP"></a> FUSION_SOURCE_AGP | `uint8` | 3 | Auxiliary Global Position (EKF2_AGP{i}\_CTRL, use instance param) |
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| <a id="#FUSION_SOURCE_BARO"></a> FUSION_SOURCE_BARO | `uint8` | 4 | Barometer (EKF2_BARO_CTRL) |
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| <a id="#FUSION_SOURCE_RNG"></a> FUSION_SOURCE_RNG | `uint8` | 5 | Range Finder (EKF2_RNG_CTRL) |
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| <a id="#FUSION_SOURCE_MAG"></a> FUSION_SOURCE_MAG | `uint8` | 6 | Magnetometer (EKF2_MAG_TYPE) |
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| <a id="#FUSION_SOURCE_ASPD"></a> FUSION_SOURCE_ASPD | `uint8` | 7 | Airspeed (EKF2_ARSP_THR) |
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| <a id="#FUSION_SOURCE_RNGBCN"></a> FUSION_SOURCE_RNGBCN | `uint8` | 8 | Ranging Beacon |
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| <a id="#VEHICLE_MOUNT_MODE_RETRACT"></a> VEHICLE_MOUNT_MODE_RETRACT | `uint8` | 0 | Load and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization. |
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| <a id="#VEHICLE_MOUNT_MODE_NEUTRAL"></a> VEHICLE_MOUNT_MODE_NEUTRAL | `uint8` | 1 | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
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| <a id="#VEHICLE_MOUNT_MODE_MAVLINK_TARGETING"></a> VEHICLE_MOUNT_MODE_MAVLINK_TARGETING | `uint8` | 2 | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization. |
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@@ -1710,6 +1733,17 @@ uint16 VEHICLE_CMD_DO_WINCH = 42600 # Command to operate winch.
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uint16 VEHICLE_CMD_EXTERNAL_POSITION_ESTIMATE = 43003 # External reset of estimator global position when dead reckoning.
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uint16 VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE = 43004
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uint16 VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE = 43006 # Enable/disable estimator sensor fusion. |Source (FUSION_SOURCE_*)|Sensor instance (0-based)|Enable (1) or Disable (0)|Estimator Instance (NaN: not used)|Empty|Empty|Empty|
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# Sensor fusion source types for VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE
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uint8 FUSION_SOURCE_GPS = 0 # GNSS (EKF2_GPS{i}_CTRL, use instance param)
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uint8 FUSION_SOURCE_OF = 1 # Optical Flow (EKF2_OF_CTRL)
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uint8 FUSION_SOURCE_EV = 2 # External Vision (EKF2_EV_CTRL)
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uint8 FUSION_SOURCE_AGP = 3 # Auxiliary Global Position (EKF2_AGP{i}_CTRL, use instance param)
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uint8 FUSION_SOURCE_BARO = 4 # Barometer (EKF2_BARO_CTRL)
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uint8 FUSION_SOURCE_RNG = 5 # Range Finder (EKF2_RNG_CTRL)
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uint8 FUSION_SOURCE_MAG = 6 # Magnetometer (EKF2_MAG_TYPE)
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uint8 FUSION_SOURCE_ASPD = 7 # Airspeed (EKF2_ARSP_THR)
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uint8 FUSION_SOURCE_RNGBCN = 8 # Ranging Beacon
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# PX4 vehicle commands (beyond 16 bit MAVLink commands).
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uint32 VEHICLE_CMD_PX4_INTERNAL_START = 65537 # Start of PX4 internal only vehicle commands (> UINT16_MAX).
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@@ -95,6 +95,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
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- [EstimatorBias](EstimatorBias.md)
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- [EstimatorBias3d](EstimatorBias3d.md)
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- [EstimatorEventFlags](EstimatorEventFlags.md)
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- [EstimatorFusionControl](EstimatorFusionControl.md)
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- [EstimatorGpsStatus](EstimatorGpsStatus.md)
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- [EstimatorInnovations](EstimatorInnovations.md)
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- [EstimatorSelectorStatus](EstimatorSelectorStatus.md)
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