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docs/en/msg_docs/EstimatorInnovations.md
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---
pageClass: is-wide-page
---
# EstimatorInnovations (UORB message)
**TOPICS:** estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorInnovations.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) |
| 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)
@@ -44,5 +79,6 @@ float32 hagl_rate # height of ground rate innovation (m/s) and innovation varian
# the test ratio will be put in the first component of the vector.
# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
```
:::