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docs/en/msg_docs/EstimatorSensorBias.md
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---
pageClass: is-wide-page
---
# EstimatorSensorBias (UORB message)
Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,
scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
Sensor readings and in-run biases in SI-unit form. Sensor readings are compensated for static offsets,. scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
**TOPICS:** estimator_sensorbias
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------- | ------------ | ------------ | ---------- | ------------------------------------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| gyro_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| gyro_bias | `float32[3]` | | | gyroscope in-run bias in body frame (rad/s) |
| gyro_bias_limit | `float32` | | | magnitude of maximum gyroscope in-run bias in body frame (rad/s) |
| gyro_bias_variance | `float32[3]` | | |
| gyro_bias_valid | `bool` | | |
| gyro_bias_stable | `bool` | | | true when the gyro bias estimate is stable enough to use for calibration |
| accel_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| accel_bias | `float32[3]` | | | accelerometer in-run bias in body frame (m/s^2) |
| accel_bias_limit | `float32` | | | magnitude of maximum accelerometer in-run bias in body frame (m/s^2) |
| accel_bias_variance | `float32[3]` | | |
| accel_bias_valid | `bool` | | |
| accel_bias_stable | `bool` | | | true when the accel bias estimate is stable enough to use for calibration |
| mag_device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| mag_bias | `float32[3]` | | | magnetometer in-run bias in body frame (Gauss) |
| mag_bias_limit | `float32` | | | magnitude of maximum magnetometer in-run bias in body frame (Gauss) |
| mag_bias_variance | `float32[3]` | | |
| mag_bias_valid | `bool` | | |
| mag_bias_stable | `bool` | | | true when the mag bias estimate is stable enough to use for calibration |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorSensorBias.msg)
::: details Click here to see original file
```c
#
@@ -36,5 +70,6 @@ float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias
float32[3] mag_bias_variance
bool mag_bias_valid
bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration
```
:::