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# 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).

**TOPICS:** estimator_sensor_bias

## Fields

| 명칭                                                            | 형식           | Unit [Frame] | Range/Enum | 설명                                                                                      |
| ------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------------------- |
| 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
#
# 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).
#

uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

# In-run bias estimates (subtract from uncorrected data)

uint32 gyro_device_id           # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias            # gyroscope in-run bias in body frame (rad/s)
float32 gyro_bias_limit         # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
float32[3] gyro_bias_variance
bool gyro_bias_valid
bool gyro_bias_stable		# true when the gyro bias estimate is stable enough to use for calibration

uint32 accel_device_id          # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias           # accelerometer in-run bias in body frame (m/s^2)
float32 accel_bias_limit        # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
float32[3] accel_bias_variance
bool accel_bias_valid
bool accel_bias_stable		# true when the accel bias estimate is stable enough to use for calibration

uint32 mag_device_id            # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias             # magnetometer in-run bias in body frame (Gauss)
float32 mag_bias_limit          # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
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
```

:::