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# EstimatorBias3d (повідомлення UORB)

**TOPICS:** estimator_bias3d estimator_ev_pos_bias

## Fields

| Назва                                                      | Тип          | Unit [Frame] | Range/Enum | Опис                                                                        |
| ---------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------------------------- |
| 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[3]` |                                                                  |            | estimated barometric altitude bias (m)                   |
| bias_var                              | `float32[3]` |                                                                  |            | estimated barometric altitude bias variance (m^2)        |
| innov                                                      | `float32[3]` |                                                                  |            | innovation of the last measurement fusion (m)            |
| innov_var                             | `float32[3]` |                                                                  |            | innovation variance of the last measurement fusion (m^2) |
| innov_test_ratio | `float32[3]` |                                                                  |            | normalized innovation squared test ratio                                    |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/EstimatorBias3d.msg)

:::details
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```c
uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

uint32 device_id                # unique device ID for the sensor that does not change between power cycles

float32[3] bias                 # estimated barometric altitude bias (m)
float32[3] bias_var             # estimated barometric altitude bias variance (m^2)

float32[3] innov                # innovation of the last measurement fusion (m)
float32[3] innov_var            # innovation variance of the last measurement fusion (m^2)
float32[3] innov_test_ratio     # normalized innovation squared test ratio

# TOPICS estimator_bias3d
# TOPICS estimator_ev_pos_bias
```

:::