--- 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) ``` :::