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66 lines
2.2 KiB
Markdown
66 lines
2.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorFusionControl (UORB message)
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**TOPICS:** estimator_fusion_control
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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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| gps_intended | `bool[2]` | | |
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| of_intended | `bool` | | |
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| ev_intended | `bool` | | |
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| agp_intended | `bool[4]` | | |
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| baro_intended | `bool` | | |
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| rng_intended | `bool` | | |
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| mag_intended | `bool` | | |
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| aspd_intended | `bool` | | |
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| rngbcn_intended | `bool` | | |
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| gps_active | `bool[2]` | | |
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| of_active | `bool` | | |
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| ev_active | `bool` | | |
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| agp_active | `bool[4]` | | |
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| baro_active | `bool` | | |
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| rng_active | `bool` | | |
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| mag_active | `bool` | | |
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| aspd_active | `bool` | | |
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| rngbcn_active | `bool` | | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorFusionControl.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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# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
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bool[2] gps_intended
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bool of_intended
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bool ev_intended
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bool[4] agp_intended
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bool baro_intended
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bool rng_intended
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bool mag_intended
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bool aspd_intended
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bool rngbcn_intended
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# whether the estimator is actively fusing data from each source
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bool[2] gps_active
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bool of_active
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bool ev_active
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bool[4] agp_active
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bool baro_active
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bool rng_active
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bool mag_active
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bool aspd_active
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bool rngbcn_active
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```
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:::
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