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63 lines
4.3 KiB
Markdown
63 lines
4.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# EstimatorAidSource3d (UORB message)
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**TOPICS:** estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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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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| estimator_instance | `uint8` | | | |
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| device_id | `uint32` | | | |
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| time_last_fuse | `uint64` | | | |
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| observation | `float32[3]` | | | |
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| observation_variance | `float32[3]` | | | |
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| innovation | `float32[3]` | | | |
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| innovation_filtered | `float32[3]` | | | |
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| innovation_variance | `float32[3]` | | | |
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| test_ratio | `float32[3]` | | | normalized innovation squared |
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| test_ratio_filtered | `float32[3]` | | | signed filtered test ratio |
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| innovation_rejected | `bool` | | | true if the observation has been rejected |
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| fused | `bool` | | | true if the sample was successfully fused |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource3d.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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uint8 estimator_instance
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uint32 device_id
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uint64 time_last_fuse
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float32[3] observation
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float32[3] observation_variance
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float32[3] innovation
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float32[3] innovation_filtered
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float32[3] innovation_variance
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float32[3] test_ratio # normalized innovation squared
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float32[3] test_ratio_filtered # signed filtered test ratio
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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# TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
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```
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:::
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