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docs/en/msg_docs/EstimatorSelectorStatus.md
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@@ -1,8 +1,37 @@
---
pageClass: is-wide-page
---
# EstimatorSelectorStatus (UORB message)
**TOPICS:** estimator_selectorstatus
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| primary_instance | `uint8` | | |
| instances_available | `uint8` | | |
| instance_changed_count | `uint32` | | |
| last_instance_change | `uint64` | | |
| accel_device_id | `uint32` | | |
| baro_device_id | `uint32` | | |
| gyro_device_id | `uint32` | | |
| mag_device_id | `uint32` | | |
| combined_test_ratio | `float32[9]` | | |
| relative_test_ratio | `float32[9]` | | |
| healthy | `bool[9]` | | |
| accumulated_gyro_error | `float32[4]` | | |
| accumulated_accel_error | `float32[4]` | | |
| gyro_fault_detected | `bool` | | |
| accel_fault_detected | `bool` | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSelectorStatus.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -27,5 +56,6 @@ float32[4] accumulated_gyro_error
float32[4] accumulated_accel_error
bool gyro_fault_detected
bool accel_fault_detected
```
:::