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docs/en/msg_docs/Ekf2Timestamps.md
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@@ -1,12 +1,37 @@
---
pageClass: is-wide-page
---
# Ekf2Timestamps (UORB message)
this message contains the (relative) timestamps of the sensor inputs used by EKF2.
It can be used for reproducible replay.
this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
the timestamp field is the ekf2 reference time and matches the timestamp of
the sensor_combined topic.
**TOPICS:** ekf2_timestamps
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| airspeed_timestamp_rel | `int16` | | |
| airspeed_validated_timestamp_rel | `int16` | | |
| distance_sensor_timestamp_rel | `int16` | | |
| optical_flow_timestamp_rel | `int16` | | |
| vehicle_air_data_timestamp_rel | `int16` | | |
| vehicle_magnetometer_timestamp_rel | `int16` | | |
| visual_odometry_timestamp_rel | `int16` | | |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------- | ------- | ----- | ------------------------------------------ |
| <a href="#RELATIVE_TIMESTAMP_INVALID"></a> RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
::: details Click here to see original file
```c
# this message contains the (relative) timestamps of the sensor inputs used by EKF2.
@@ -33,5 +58,6 @@ int16 vehicle_magnetometer_timestamp_rel
int16 visual_odometry_timestamp_rel
# Note: this is a high-rate logged topic, so it needs to be as small as possible
```
:::