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45 lines
2.9 KiB
Markdown
45 lines
2.9 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorBias (повідомлення UORB)
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**TOPICS:** estimator_baro_bias estimator_gnss_hgt_bias
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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| ---------------------------------------------------------- | --------- | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
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| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
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| bias | `float32` | | | estimated barometric altitude bias (m) |
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| bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) |
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| innov | `float32` | | | innovation of the last measurement fusion (m) |
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| innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) |
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| innov_test_ratio | `float32` | | | normalized innovation squared test ratio |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg)
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:::details
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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 # the timestamp of the raw data (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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float32 bias # estimated barometric altitude bias (m)
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float32 bias_var # estimated barometric altitude bias variance (m^2)
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float32 innov # innovation of the last measurement fusion (m)
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float32 innov_var # innovation variance of the last measurement fusion (m^2)
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float32 innov_test_ratio # normalized innovation squared test ratio
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# TOPICS estimator_baro_bias estimator_gnss_hgt_bias
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```
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:::
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