--- pageClass: is-wide-page --- # EstimatorEventFlags (UORB message) **TOPICS:** estimator_event_flags ## 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) | | information_event_changes | `uint32` | | | number of information event changes | | gps_checks_passed | `bool` | | | 0 - true when gps quality checks are passing passed | | reset_vel_to_gps | `bool` | | | 1 - true when the velocity states are reset to the gps measurement | | reset_vel_to_flow | `bool` | | | 2 - true when the velocity states are reset using the optical flow measurement | | reset_vel_to_vision | `bool` | | | 3 - true when the velocity states are reset to the vision system measurement | | reset_vel_to_zero | `bool` | | | 4 - true when the velocity states are reset to zero | | reset_pos_to_last_known | `bool` | | | 5 - true when the position states are reset to the last known position | | reset_pos_to_gps | `bool` | | | 6 - true when the position states are reset to the gps measurement | | reset_pos_to_vision | `bool` | | | 7 - true when the position states are reset to the vision system measurement | | starting_gps_fusion | `bool` | | | 8 - true when the filter starts using gps measurements to correct the state estimates | | starting_vision_pos_fusion | `bool` | | | 9 - true when the filter starts using vision system position measurements to correct the state estimates | | starting_vision_vel_fusion | `bool` | | | 10 - true when the filter starts using vision system velocity measurements to correct the state estimates | | starting_vision_yaw_fusion | `bool` | | | 11 - true when the filter starts using vision system yaw measurements to correct the state estimates | | yaw_aligned_to_imu_gps | `bool` | | | 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data | | reset_hgt_to_baro | `bool` | | | 13 - true when the vertical position state is reset to the baro measurement | | reset_hgt_to_gps | `bool` | | | 14 - true when the vertical position state is reset to the gps measurement | | reset_hgt_to_rng | `bool` | | | 15 - true when the vertical position state is reset to the rng measurement | | reset_hgt_to_ev | `bool` | | | 16 - true when the vertical position state is reset to the ev measurement | ## Source Message [Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorEventFlags.msg) ::: details Click here to see original file ```c uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) # information events uint32 information_event_changes # number of information event changes bool gps_checks_passed # 0 - true when gps quality checks are passing passed bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement ``` :::