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2026-02-11 22:43:01 +00:00
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docs/en/msg_docs/EstimatorGpsStatus.md
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@@ -1,8 +1,38 @@
---
pageClass: is-wide-page
---
# EstimatorGpsStatus (UORB message)
**TOPICS:** estimator_gpsstatus
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------------------------- | --------- | ------------ | ---------- | -------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| checks_passed | `bool` | | |
| check_fail_gps_fix | `bool` | | | 0 : insufficient fix type (no 3D solution) |
| check_fail_min_sat_count | `bool` | | | 1 : minimum required sat count fail |
| check_fail_max_pdop | `bool` | | | 2 : maximum allowed PDOP fail |
| check_fail_max_horz_err | `bool` | | | 3 : maximum allowed horizontal position error fail |
| check_fail_max_vert_err | `bool` | | | 4 : maximum allowed vertical position error fail |
| check_fail_max_spd_err | `bool` | | | 5 : maximum allowed speed error fail |
| check_fail_max_horz_drift | `bool` | | | 6 : maximum allowed horizontal position drift fail - requires stationary vehicle |
| check_fail_max_vert_drift | `bool` | | | 7 : maximum allowed vertical position drift fail - requires stationary vehicle |
| check_fail_max_horz_spd_err | `bool` | | | 8 : maximum allowed horizontal speed fail - requires stationary vehicle |
| check_fail_max_vert_spd_err | `bool` | | | 9 : maximum allowed vertical velocity discrepancy fail |
| check_fail_spoofed_gps | `bool` | | | 10 : GPS signal is spoofed |
| position_drift_rate_horizontal_m_s | `float32` | | | Horizontal position rate magnitude (m/s) |
| position_drift_rate_vertical_m_s | `float32` | | | Vertical position rate magnitude (m/s) |
| filtered_horizontal_speed_m_s | `float32` | | | Filtered horizontal velocity magnitude (m/s) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorGpsStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -25,5 +55,6 @@ bool check_fail_spoofed_gps # 10 : GPS signal is spoofed
float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)
float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s)
```
:::