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docs/en/msg_docs/EstimatorBias.md
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@@ -1,8 +1,29 @@
---
pageClass: is-wide-page
---
# EstimatorBias (UORB message)
**TOPICS:** estimator_baro_bias estimator_gnss_hgt_bias
## Fields
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.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) |
| device_id | `uint32` | | | unique device ID for the sensor that does not change between power cycles |
| bias | `float32` | | | estimated barometric altitude bias (m) |
| bias_var | `float32` | | | estimated barometric altitude bias variance (m^2) |
| innov | `float32` | | | innovation of the last measurement fusion (m) |
| innov_var | `float32` | | | innovation variance of the last measurement fusion (m^2) |
| innov_test_ratio | `float32` | | | normalized innovation squared test ratio |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias.msg)
::: details Click here to see original file
```c
uint64 timestamp # time since system start (microseconds)
@@ -17,5 +38,6 @@ float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias
```
:::