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PX4-Autopilot/docs/en/msg_docs/EstimatorStatusFlags.md
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---
pageClass: is-wide-page
---
# EstimatorStatusFlags (UORB message)
**TOPICS:** estimator_status_flags
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------------- | -------- | ------------ | ---------- | ------------------------------------------------------------------------------------------------ |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| control_status_changes | `uint32` | | | number of filter control status (cs) changes |
| cs_tilt_align | `bool` | | | 0 - true if the filter tilt alignment is complete |
| cs_yaw_align | `bool` | | | 1 - true if the filter yaw alignment is complete |
| cs_gnss_pos | `bool` | | | 2 - true if GNSS position measurement fusion is intended |
| cs_opt_flow | `bool` | | | 3 - true if optical flow measurements fusion is intended |
| cs_mag_hdg | `bool` | | | 4 - true if a simple magnetic yaw heading fusion is intended |
| cs_mag_3d | `bool` | | | 5 - true if 3-axis magnetometer measurement fusion is intended |
| cs_mag_dec | `bool` | | | 6 - true if synthetic magnetic declination measurements fusion is intended |
| cs_in_air | `bool` | | | 7 - true when the vehicle is airborne |
| cs_wind | `bool` | | | 8 - true when wind velocity is being estimated |
| cs_baro_hgt | `bool` | | | 9 - true when baro data is being fused |
| cs_rng_hgt | `bool` | | | 10 - true when range finder data is being fused for height aiding |
| cs_gps_hgt | `bool` | | | 11 - true when GPS altitude is being fused |
| cs_ev_pos | `bool` | | | 12 - true when local position data fusion from external vision is intended |
| cs_ev_yaw | `bool` | | | 13 - true when yaw data from external vision measurements fusion is intended |
| cs_ev_hgt | `bool` | | | 14 - true when height data from external vision measurements is being fused |
| cs_fuse_beta | `bool` | | | 15 - true when synthetic sideslip measurements are being fused |
| cs_mag_field_disturbed | `bool` | | | 16 - true when the mag field does not match the expected strength |
| cs_fixed_wing | `bool` | | | 17 - true when the vehicle is operating as a fixed wing vehicle |
| cs_mag_fault | `bool` | | | 18 - true when the magnetometer has been declared faulty and is no longer being used |
| cs_fuse_aspd | `bool` | | | 19 - true when airspeed measurements are being fused |
| cs_gnd_effect | `bool` | | | 20 - true when protection from ground effect induced static pressure rise is active |
| cs_rng_stuck | `bool` | | | 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough |
| cs_gnss_yaw | `bool` | | | 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended |
| cs_mag_aligned_in_flight | `bool` | | | 23 - true when the in-flight mag field alignment has been completed |
| cs_ev_vel | `bool` | | | 24 - true when local frame velocity data fusion from external vision measurements is intended |
| cs_synthetic_mag_z | `bool` | | | 25 - true when we are using a synthesized measurement for the magnetometer Z component |
| cs_vehicle_at_rest | `bool` | | | 26 - true when the vehicle is at rest |
| cs_gnss_yaw_fault | `bool` | | | 27 - true when the GNSS heading has been declared faulty and is no longer being used |
| cs_rng_fault | `bool` | | | 28 - true when the range finder has been declared faulty and is no longer being used |
| cs_inertial_dead_reckoning | `bool` | | | 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift |
| cs_wind_dead_reckoning | `bool` | | | 30 - true if we are navigationg reliant on wind relative measurements |
| cs_rng_kin_consistent | `bool` | | | 31 - true when the range finder kinematic consistency check is passing |
| cs_fake_pos | `bool` | | | 32 - true when fake position measurements are being fused |
| cs_fake_hgt | `bool` | | | 33 - true when fake height measurements are being fused |
| cs_gravity_vector | `bool` | | | 34 - true when gravity vector measurements are being fused |
| cs_mag | `bool` | | | 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended |
| cs_ev_yaw_fault | `bool` | | | 36 - true when the EV heading has been declared faulty and is no longer being used |
| cs_mag_heading_consistent | `bool` | | | 37 - true when the heading obtained from mag data is declared consistent with the filter |
| cs_aux_gpos | `bool` | | | 38 - true if auxiliary global position measurement fusion is intended |
| cs_rng_terrain | `bool` | | | 39 - true if we are fusing range finder data for terrain |
| cs_opt_flow_terrain | `bool` | | | 40 - true if we are fusing flow data for terrain |
| cs_valid_fake_pos | `bool` | | | 41 - true if a valid constant position is being fused |
| cs_constant_pos | `bool` | | | 42 - true if the vehicle is at a constant position |
| cs_baro_fault | `bool` | | | 43 - true when the current baro has been declared faulty and is no longer being used |
| cs_gnss_vel | `bool` | | | 44 - true if GNSS velocity measurement fusion is intended |
| cs_gnss_fault | `bool` | | | 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty |
| cs_yaw_manual | `bool` | | | 46 - true if yaw has been set manually |
| cs_gnss_hgt_fault | `bool` | | | 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty |
| cs_in_transition | `bool` | | | 48 - true if the vehicle is in vtol transition |
| cs_heading_observable | `bool` | | | 49 - true when heading is observable |
| fault_status_changes | `uint32` | | | number of filter fault status (fs) changes |
| fs_bad_mag_x | `bool` | | | 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error |
| fs_bad_mag_y | `bool` | | | 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error |
| fs_bad_mag_z | `bool` | | | 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error |
| fs_bad_hdg | `bool` | | | 3 - true if the fusion of the heading angle has encountered a numerical error |
| fs_bad_mag_decl | `bool` | | | 4 - true if the fusion of the magnetic declination has encountered a numerical error |
| fs_bad_airspeed | `bool` | | | 5 - true if fusion of the airspeed has encountered a numerical error |
| fs_bad_sideslip | `bool` | | | 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error |
| fs_bad_optflow_x | `bool` | | | 7 - true if fusion of the optical flow X axis has encountered a numerical error |
| fs_bad_optflow_y | `bool` | | | 8 - true if fusion of the optical flow Y axis has encountered a numerical error |
| fs_bad_acc_vertical | `bool` | | | 10 - true if bad vertical accelerometer data has been detected |
| fs_bad_acc_clipping | `bool` | | | 11 - true if delta velocity data contains clipping (asymmetric railing) |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorStatusFlags.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# filter control status
uint32 control_status_changes # number of filter control status (cs) changes
bool cs_tilt_align # 0 - true if the filter tilt alignment is complete
bool cs_yaw_align # 1 - true if the filter yaw alignment is complete
bool cs_gnss_pos # 2 - true if GNSS position measurement fusion is intended
bool cs_opt_flow # 3 - true if optical flow measurements fusion is intended
bool cs_mag_hdg # 4 - true if a simple magnetic yaw heading fusion is intended
bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fusion is intended
bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
bool cs_in_air # 7 - true when the vehicle is airborne
bool cs_wind # 8 - true when wind velocity is being estimated
bool cs_baro_hgt # 9 - true when baro data is being fused
bool cs_rng_hgt # 10 - true when range finder data is being fused for height aiding
bool cs_gps_hgt # 11 - true when GPS altitude is being fused
bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended
bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused
bool cs_fuse_beta # 15 - true when synthetic sideslip measurements are being fused
bool cs_mag_field_disturbed # 16 - true when the mag field does not match the expected strength
bool cs_fixed_wing # 17 - true when the vehicle is operating as a fixed wing vehicle
bool cs_mag_fault # 18 - true when the magnetometer has been declared faulty and is no longer being used
bool cs_fuse_aspd # 19 - true when airspeed measurements are being fused
bool cs_gnd_effect # 20 - true when protection from ground effect induced static pressure rise is active
bool cs_rng_stuck # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
bool cs_gnss_yaw # 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
bool cs_mag_aligned_in_flight # 23 - true when the in-flight mag field alignment has been completed
bool cs_ev_vel # 24 - true when local frame velocity data fusion from external vision measurements is intended
bool cs_synthetic_mag_z # 25 - true when we are using a synthesized measurement for the magnetometer Z component
bool cs_vehicle_at_rest # 26 - true when the vehicle is at rest
bool cs_gnss_yaw_fault # 27 - true when the GNSS heading has been declared faulty and is no longer being used
bool cs_rng_fault # 28 - true when the range finder has been declared faulty and is no longer being used
bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
bool cs_wind_dead_reckoning # 30 - true if we are navigationg reliant on wind relative measurements
bool cs_rng_kin_consistent # 31 - true when the range finder kinematic consistency check is passing
bool cs_fake_pos # 32 - true when fake position measurements are being fused
bool cs_fake_hgt # 33 - true when fake height measurements are being fused
bool cs_gravity_vector # 34 - true when gravity vector measurements are being fused
bool cs_mag # 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
bool cs_ev_yaw_fault # 36 - true when the EV heading has been declared faulty and is no longer being used
bool cs_mag_heading_consistent # 37 - true when the heading obtained from mag data is declared consistent with the filter
bool cs_aux_gpos # 38 - true if auxiliary global position measurement fusion is intended
bool cs_rng_terrain # 39 - true if we are fusing range finder data for terrain
bool cs_opt_flow_terrain # 40 - true if we are fusing flow data for terrain
bool cs_valid_fake_pos # 41 - true if a valid constant position is being fused
bool cs_constant_pos # 42 - true if the vehicle is at a constant position
bool cs_baro_fault # 43 - true when the current baro has been declared faulty and is no longer being used
bool cs_gnss_vel # 44 - true if GNSS velocity measurement fusion is intended
bool cs_gnss_fault # 45 - true if GNSS true if GNSS measurements (lat, lon, vel) have been declared faulty
bool cs_yaw_manual # 46 - true if yaw has been set manually
bool cs_gnss_hgt_fault # 47 - true if GNSS true if GNSS measurements (alt) have been declared faulty
bool cs_in_transition # 48 - true if the vehicle is in vtol transition
bool cs_heading_observable # 49 - true when heading is observable
# fault status
uint32 fault_status_changes # number of filter fault status (fs) changes
bool fs_bad_mag_x # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error
bool fs_bad_mag_y # 1 - true if the fusion of the magnetometer Y-axis has encountered a numerical error
bool fs_bad_mag_z # 2 - true if the fusion of the magnetometer Z-axis has encountered a numerical error
bool fs_bad_hdg # 3 - true if the fusion of the heading angle has encountered a numerical error
bool fs_bad_mag_decl # 4 - true if the fusion of the magnetic declination has encountered a numerical error
bool fs_bad_airspeed # 5 - true if fusion of the airspeed has encountered a numerical error
bool fs_bad_sideslip # 6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
bool fs_bad_optflow_x # 7 - true if fusion of the optical flow X axis has encountered a numerical error
bool fs_bad_optflow_y # 8 - true if fusion of the optical flow Y axis has encountered a numerical error
bool fs_bad_acc_vertical # 10 - true if bad vertical accelerometer data has been detected
bool fs_bad_acc_clipping # 11 - true if delta velocity data contains clipping (asymmetric railing)
```
:::
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