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docs/en/msg_docs/EstimatorAidSource2d.md
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@@ -1,8 +1,35 @@
---
pageClass: is-wide-page
---
# EstimatorAidSource2d (UORB message)
**TOPICS:** estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_drag
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
| Name | Type | Unit [Frame] | Range/Enum | Description |
| -------------------- | ------------ | ------------ | ---------- | -------------------------------------------- |
| timestamp | `uint64` | | | time since system start (microseconds) |
| timestamp_sample | `uint64` | | | the timestamp of the raw data (microseconds) |
| estimator_instance | `uint8` | | |
| device_id | `uint32` | | |
| time_last_fuse | `uint64` | | |
| observation | `float64[2]` | | |
| observation_variance | `float32[2]` | | |
| innovation | `float32[2]` | | |
| innovation_filtered | `float32[2]` | | |
| innovation_variance | `float32[2]` | | |
| test_ratio | `float32[2]` | | | normalized innovation squared |
| test_ratio_filtered | `float32[2]` | | | signed filtered test ratio |
| innovation_rejected | `bool` | | | true if the observation has been rejected |
| fused | `bool` | | | true if the sample was successfully fused |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorAidSource2d.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -31,5 +58,6 @@ bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position
# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow
# TOPICS estimator_aid_src_drag
```
:::