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64 lines
2.7 KiB
Markdown
64 lines
2.7 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# Ekf2Timestamps (UORB message)
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this message contains the (relative) timestamps of the sensor inputs used by EKF2. It can be used for reproducible replay.
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**TOPICS:** ekf2_timestamps
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------------------------- | -------- | ------------ | ---------- | -------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| airspeed_timestamp_rel | `int16` | | |
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| airspeed_validated_timestamp_rel | `int16` | | |
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| distance_sensor_timestamp_rel | `int16` | | |
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| optical_flow_timestamp_rel | `int16` | | |
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| vehicle_air_data_timestamp_rel | `int16` | | |
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| vehicle_magnetometer_timestamp_rel | `int16` | | |
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| visual_odometry_timestamp_rel | `int16` | | |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------------------------------- | ------- | ----- | ------------------------------------------ |
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| <a href="#RELATIVE_TIMESTAMP_INVALID"></a> RELATIVE_TIMESTAMP_INVALID | `int16` | 32767 | (0x7fff) If one of the relative timestamps |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Ekf2Timestamps.msg)
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::: details Click here to see original file
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```c
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# this message contains the (relative) timestamps of the sensor inputs used by EKF2.
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# It can be used for reproducible replay.
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# the timestamp field is the ekf2 reference time and matches the timestamp of
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# the sensor_combined topic.
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uint64 timestamp # time since system start (microseconds)
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int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
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# is set to this value, it means the associated sensor values did not update
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# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
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# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
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# difference of +-3.2s to the sensor_combined topic.
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int16 airspeed_timestamp_rel
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int16 airspeed_validated_timestamp_rel
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int16 distance_sensor_timestamp_rel
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int16 optical_flow_timestamp_rel
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int16 vehicle_air_data_timestamp_rel
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int16 vehicle_magnetometer_timestamp_rel
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int16 visual_odometry_timestamp_rel
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# Note: this is a high-rate logged topic, so it needs to be as small as possible
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```
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:::
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