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# EstimatorAidSource1d (повідомлення UORB)

**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw

## 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) |
| estimator_instance                       | `uint8`   |                                                                  |            |                                                                 |
| device_id                                | `uint32`  |                                                                  |            |                                                                 |
| time_last_fuse      | `uint64`  |                                                                  |            |                                                                 |
| observation                                                   | `float32` |                                                                  |            |                                                                 |
| observation_variance                     | `float32` |                                                                  |            |                                                                 |
| innovation                                                    | `float32` |                                                                  |            |                                                                 |
| innovation_filtered                      | `float32` |                                                                  |            |                                                                 |
| innovation_variance                      | `float32` |                                                                  |            |                                                                 |
| test_ratio                               | `float32` |                                                                  |            | normalized innovation squared                                   |
| test_ratio_filtered | `float32` |                                                                  |            | 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/EstimatorAidSource1d.msg)

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

uint8 estimator_instance

uint32 device_id

uint64 time_last_fuse

float32 observation
float32 observation_variance

float32 innovation
float32 innovation_filtered

float32 innovation_variance

float32 test_ratio           # normalized innovation squared
float32 test_ratio_filtered  # signed filtered test ratio

bool innovation_rejected     # true if the observation has been rejected
bool fused                   # true if the sample was successfully fused

# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
# TOPICS estimator_aid_src_fake_hgt
# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
```

:::