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docs/en/msg_docs/EstimatorFusionControl.md
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pageClass: is-wide-page
---
# EstimatorFusionControl (UORB message)
**TOPICS:** estimator_fusion_control
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| --------------- | --------- | ------------ | ---------- | -------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| gps_intended | `bool[2]` | | |
| of_intended | `bool` | | |
| ev_intended | `bool` | | |
| agp_intended | `bool[4]` | | |
| baro_intended | `bool` | | |
| rng_intended | `bool` | | |
| mag_intended | `bool` | | |
| aspd_intended | `bool` | | |
| rngbcn_intended | `bool` | | |
| gps_active | `bool[2]` | | |
| of_active | `bool` | | |
| ev_active | `bool` | | |
| agp_active | `bool[4]` | | |
| baro_active | `bool` | | |
| rng_active | `bool` | | |
| mag_active | `bool` | | |
| aspd_active | `bool` | | |
| rngbcn_active | `bool` | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorFusionControl.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
# sensor intended for fusion (enabled via EKF2_SENS_EN AND CTRL param != disabled)
bool[2] gps_intended
bool of_intended
bool ev_intended
bool[4] agp_intended
bool baro_intended
bool rng_intended
bool mag_intended
bool aspd_intended
bool rngbcn_intended
# whether the estimator is actively fusing data from each source
bool[2] gps_active
bool of_active
bool ev_active
bool[4] agp_active
bool baro_active
bool rng_active
bool mag_active
bool aspd_active
bool rngbcn_active
```
:::