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46 lines
2.3 KiB
Markdown
46 lines
2.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# HoverThrustEstimate (UORB message)
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**TOPICS:** hover_thrustestimate
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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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| timestamp_sample | `uint64` | | | time of corresponding sensor data last used for this estimate |
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| hover_thrust | `float32` | | | estimated hover thrust [0.1, 0.9] |
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| hover_thrust_var | `float32` | | | estimated hover thrust variance |
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| accel_innov | `float32` | | | innovation of the last acceleration fusion |
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| accel_innov_var | `float32` | | | innovation variance of the last acceleration fusion |
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| accel_innov_test_ratio | `float32` | | | normalized innovation squared test ratio |
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| accel_noise_var | `float32` | | | vertical acceleration noise variance estimated form innovation residual |
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| valid | `bool` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/HoverThrustEstimate.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # time of corresponding sensor data last used for this estimate
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float32 hover_thrust # estimated hover thrust [0.1, 0.9]
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float32 hover_thrust_var # estimated hover thrust variance
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float32 accel_innov # innovation of the last acceleration fusion
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float32 accel_innov_var # innovation variance of the last acceleration fusion
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float32 accel_innov_test_ratio # normalized innovation squared test ratio
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float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
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bool valid
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```
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:::
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